JP2018123653A - Automatic door system and control method of automatic door system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic door system capable of both reducing unnecessary opening and closing of a door and improving the safety property.SOLUTION: The automatic door system carries out a detection using a start detection algorithm for detecting a person or an object when a door 21 is at the closed position, and the detection result by the start detection algorithm is used for drive control of the door 21. When the door 21 is positioned at a point other than the closed position, a detection is carried out by using a protection detection algorithm, which has the priority to easier detect of a person or an object than the start detection algorithm, and the detection result by the protection detection algorithm is used for drive control of the door in place of the detection result by the start detection algorithm.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic door system and a control method for the automatic door system.

  In order to ensure safety, automatic door sensors used for automatic doors are required to set an appropriate detection area. Conventionally, various techniques for setting a detection area of an automatic door sensor have been proposed. For example, Patent Document 1 discloses a technique for improving the safety of a doorway by setting a detection area on the doorway.

JP 2003-3750 A

  For detection by the automatic door sensor, detection means (predetermined sensor or detection algorithm) corresponding to the detection area of the automatic door sensor has been used. Specifically, a detecting means for opening a door while reducing unnecessary opening and closing has been used for an automatic door sensor that detects a passerby and detects an activation area for opening a door. On the other hand, the automatic door sensor for detecting the protection area for protecting the passerby on the doorway or the like has used a detection means for monitoring the stoppage of the passerby.

  However, when both the protection area and the activation area are detected by a single automatic door sensor, a part of the protection area must be used as the activation area. In this case, the detection means used for detecting the protection area is used. It will be used to detect the activation area. By detecting the activation area using the detection means used for detecting the protection area, there is a problem that an erroneous opening occurs due to the influence of the automatic door and its installation environment, and unnecessary opening / closing tends to increase.

  The present invention has been made in consideration of the above points, and provides an automatic door system and an automatic door system control method capable of achieving both reduction of unnecessary opening and closing of a door and improvement of safety. With the goal.

  The present invention includes a control unit that drives and controls the door based on a detection result of a person or an object in the detection area, and the control unit is in a special detection area that is a part of the detection area and the door is in a closed position. Uses the detection result of the activation detection means for detecting a person or an object for the drive control of the door, and when the door is in a position other than the closed position, it is easier to detect the person or the object than the activation detection means. It is an automatic door system which uses the detection result by the detection means for operation for the drive control of the door.

  In the automatic door system according to the present invention, the front detection area further includes a start detection area that performs detection only by the start detection means, and the special detection area is located closer to the door than the start detection area. You may arrange.

  The automatic door system according to the present invention further includes doorway detection means for detecting a person or an object on the movement path of the door, wherein the detection area is detected by the doorway detection means and the protection detection means. 2 special detection areas, and when the door is in the fully open position in the second special detection area, the control means uses the detection result of the protection detection means for driving control of the door, and the door is fully opened. When the position is other than the position, the detection result by the doorway detection means may be used for drive control of the door.

  The automatic door system according to the present invention further includes a fixed wall side detection means for detecting a person or an object near the fixed wall portion of the door, and the detection area is detected by the fixed wall side detection means and the protection detection means. And when the door is moving in the fully open direction in the third special detection area, the control means controls the drive of the door based on the detection result by the fixed wall side detection means. The detection result by the protection detecting means may be used for drive control of the door except when the door is moving in the fully open direction.

  In the detection by the protective detection means in the automatic door system according to the present invention, the stationary object detection time from when a person or object is detected until the detected person or object is determined as a stationary object and excluded from the detection target is It may be longer than the stationary body detection time in the detection by the activation detecting means.

  In the detection by the detection means for protection of the automatic door sensor according to the present invention, the stationary body detection time from detection of a person or object until the detected person or object is determined as a stationary body and excluded from the detection target is: It may be longer than the stationary body detection time in the detection by the activation detecting means.

  In the special detection area that is a part of the detection area for detecting a person or an object, the present invention performs detection by a detection means for activation that detects a person or an object and outputs the result. Used for drive control of the door, and when the door is in a position other than the closed position, the detection is performed by a protective detection means that can detect a person or an object more easily than the detection means for activation in the special detection area. It is the control method of an automatic door system which uses a result for the drive control of the said door.

  According to the present invention, it is possible to achieve both reduction in unnecessary opening and closing of the door and improvement in safety.

It is a block diagram which shows the automatic door system by this embodiment. It is a bird's-eye view which shows the automatic door system by this embodiment. In the automatic door system by this embodiment, it is a key map showing a detection algorithm. It is a flowchart which shows switching of the detection algorithm according to a door state in the operation example of the automatic door system by this embodiment. It is a flowchart which shows starting detection control in the operation example of the automatic door system by this embodiment. FIG. 6A is a flowchart illustrating an example of protection detection control in the operation example of the automatic door system according to the present embodiment, and FIG. 6B is a flowchart illustrating another example of protection detection control. It is a flowchart which shows reading of a control parameter in the operation example of the automatic door system by this embodiment. It is a flowchart which shows detection and background update control in the operation example of the automatic door system by this embodiment. It is explanatory drawing for demonstrating detection and background update control in the operation example of the automatic door system by this embodiment. It is a flowchart which shows 1st mode control in the operation example of the automatic door system by this embodiment. It is a flowchart which shows 2nd mode control in the operation example of the automatic door system by this embodiment. It is a flowchart which shows 3rd mode control in the operation example of the automatic door system by this embodiment. It is a flowchart which shows leaving invalid control in the operation example of the automatic door system by this embodiment. It is explanatory drawing for demonstrating exit invalid control in the operation example of the automatic door system by this embodiment. It is a flowchart which shows crossing invalidation control in the operation example of the automatic door system by this embodiment. It is explanatory drawing for demonstrating crossing invalidation control in the operation example of the automatic door system by this embodiment. It is a flowchart which shows detection judgment in the operation example of the automatic door system by this embodiment. It is a block diagram which shows the automatic door system by the 1st modification of this embodiment. It is a block diagram which shows the automatic door system by the 2nd modification of this embodiment. It is a block diagram which shows the automatic door system by the 3rd modification of this embodiment.

  Hereinafter, an automatic door system according to an embodiment of the present invention will be described in detail with reference to the drawings. In addition, embodiment shown below is an example of embodiment of this invention, This invention is limited to these embodiment, and is not interpreted. In the drawings referred to in this embodiment, the same portions or portions having similar functions are denoted by the same or similar reference numerals, and repeated description thereof is omitted. In addition, the dimensional ratio in the drawing may be different from the actual ratio for convenience of description, and a part of the configuration may be omitted from the drawing.

  FIG. 1 is a diagram showing an automatic door system 1 according to the present embodiment. FIG. 2 is a bird's-eye view showing the automatic door system 1 according to the present embodiment. As shown in FIG. 1, the automatic door system 1 includes an automatic door device 2 and an automatic door sensor 3. The automatic door system 1 detects a passerby who wants to pass through the door 21 shown in FIG. 2 by the automatic door sensor 3 and opens the door 21 in order to pass the passerby according to the detection of the automatic door sensor 3.

(Automatic door device 2)
The automatic door device 2 includes a door 21, a motor 22, and a door control unit 23 that is an example of a door control unit. The motor 22 generates a rotational force for automatically opening and closing the door 21 by being supplied with power from a power source (not shown). The rotational force of the motor 22 is transmitted to the door 21 as a translational force in the opening / closing direction d1 shown in FIG. 2 via a power transmission member such as a pulley and a timing belt (not shown). In the example of FIG. 2, the two doors 21 are draw type sliding doors. The form of the door 21 is not limited to the example of FIG. 2, For example, you may employ | adopt the doors of various aspects, such as a sliding door of a pulling type, a hinged door, a folding door, a glide door.

  The door control unit 23 is connected to the motor 22 and the automatic door sensor 3. The door control unit 23 performs drive control of the motor 22 by controlling power supply based on signals or information acquired from the automatic door sensor 3 and the motor 22. By controlling the drive of the motor 22, the door control unit 23 controls the drive of the door 21. The drive control of the motor 22 is control of at least one of the presence / absence of the drive of the motor 22, the drive speed, the drive torque, and the rotation direction, or a combination of two or more thereof.

  For example, the door control unit 23 receives an open signal from the automatic door sensor 3 according to detection of a passerby or an object in an effective detection area described later. The door control unit 23 performs control for driving the door 21 in the opening direction (hereinafter also referred to as opening drive control) in response to the input of the opening signal.

(Automatic door sensor 3)
As shown in FIG. 2, the automatic door sensor 3 detects the passerby of the door 21 and the like, more specifically, at the center of the invisible portion 24, more specifically, at the boundary between the two doors 21 in the fully closed state. It is provided above. The automatic door sensor 3 may be provided in a place other than the invisible part 24 such as a ceiling.

  As shown in FIG. 1, the automatic door sensor 3 includes a detection unit 31 and a sensor control unit 32. The detection unit 31 and the sensor control unit 32 are examples of detection means. The sensor control unit 32 is connected to the detection unit 31 and the door control unit 23. The sensor control unit 32 is configured by hardware such as a CPU, a ROM, and a RAM, for example. At least a part of the sensor control unit 32 may be configured by software. The detection unit 31 includes a light projecting unit 311 and a light receiving unit 312.

  The sensor control unit 32 has an effective detection area. As shown in FIG. 2, the effective detection area is set to detect a passerby of the door 21 in the detection area 5 that is an area on the floor surface 6 that can be detected using the automatic door sensor 3. The region is at least part of the range.

  The light projecting unit 311 has a plurality of light projecting elements (not shown). The light projecting unit 311 projects or irradiates pulsed near-infrared light to the detection area 5 from each of the plurality of light projecting elements. The light receiving unit 312 includes a plurality of light receiving elements (not shown) that optically correspond to each of the plurality of light projecting elements of the light projecting unit 311. The light receiving unit 312 receives near-infrared light projected from each of the plurality of light projecting elements of the light projecting unit 311 to the detection area 5 by each of the plurality of light receiving elements. Detects the amount of light received. The light receiving unit 312 outputs the detected amount of received light to the sensor control unit 32 as a detection signal having a signal value corresponding to the amount of received light. The light projecting unit 311 and the light receiving unit 312 may project and receive light other than near infrared light.

  In the example of FIG. 2, the detection area 5 is composed of a plurality of small detection areas 51 arranged at intervals in the opening / closing direction d1 of the door 21 and the front-rear direction d2 orthogonal to the door 21 in front of the two doors 21. ing. Specifically, in FIG. 2, there are a total of 72 small detection areas 51 of 6 columns × 12.

  Each small detection area 51 corresponds to an irradiation spot of near-infrared light that is projected from each of the plurality of light projecting elements of the light projecting unit 311 and received by the plurality of light receiving elements of the light receiving unit 312. .

  The effective detection area in the example of FIG. 2 includes at least one small detection area 51 among the plurality of small detection areas 51. In the example of FIG. 2, each small detection area 51 has a circular shape. In this case, the diameter of the small detection area 51 on the floor surface 6 can be set to an arbitrary value between 10 cm and 30 cm, for example. The small detection area 51 may have a shape other than a circular shape such as an elliptical shape, a rectangular shape, and a polygonal shape.

  A specific aspect is not particularly limited as to which of the plurality of small detection areas 51 is set as an effective detection area. For example, the effective detection area may be set in advance before the use of the automatic door system 1 is started. The effective detection area may be variable depending on the door position or the like.

  The sensor control unit 32 causes all the light projecting elements of the light projecting unit 311 to project near-infrared light toward the corresponding small detection areas 51. Then, the sensor control unit 32 causes all the light receiving elements of the light receiving unit 312 to receive the reflected light of the near infrared light from each small detection area 51. And the sensor control part 32 extracts the detection signal of an effective detection area among the detection signals for every small detection area 51 input from the light-receiving part 312.

  And the sensor control part 32 detects a passerby etc. according to the detection algorithm for starting mentioned later or the detection algorithm for protection based on the detection signal of the effective detection area extracted. In detecting a passerby or the like, the sensor control unit 32 stores, for example, the signal value (that is, the amount of received light) of the effective detection area immediately after the automatic door system 1 is turned on as a reference value. A passerby or the like may be detected based on the amount of change in the signal value with respect to. When a passerby is detected in the effective detection area, the sensor control unit 32 outputs an open signal to the door control unit 23 of the automatic door device 2 so that the detection result in the effective detection area is controlled to open the door 21. Used for.

  Further, the sensor control unit 32 acquires a position signal indicating the position of the door 21 from the motor 22, and based on the acquired position signal, detects a detection algorithm to be applied to a special detection area 51A described later and a detection algorithm for activation. Switch between detection algorithms. A specific aspect of the position signal is not particularly limited as long as the position of the door 21 can be detected. For example, the position signal is generated based on the phase of the Hall element of the motor 22. The position signal may be a signal based on a rotary encoder that detects the rotation of the motor 22 or a linear encoder that is provided to detect the opening / closing position of the door 21. Furthermore, you may acquire via a door control part, without acquiring directly from the motor 22. FIG.

  The sensor control unit 32 may cause only the light projecting elements corresponding to the effective detection area to perform light projection instead of projecting near infrared light to all the light projecting elements of the light projecting unit 311. In this case, all of the small detection areas 51 where the near infrared light is projected are effective detection areas. Power consumption can be reduced by causing only the light projecting elements corresponding to the effective detection area to perform light projection. In addition, the lifetime of the light projecting element can be extended.

  Moreover, an effective detection area may be set in the door control part 23, and the door control part 23 may be functioned as a detection means. In this case, the sensor control unit 32 may output detection signals of all the small detection areas 51 input from the light receiving unit 312 to the door control unit 23. And the door control part 23 is based on the detection signal of the effective detection area set beforehand among the detection signals of all the small detection areas 51 input from the sensor control part 32, or the detection algorithm for protection mentioned later or protection A passerby may be detected according to the detection algorithm.

(Detection algorithm corresponding to detection area 5)
As shown in FIG. 2, the sensor control unit 32 includes a special detection area 51 </ b> A (special detection area) as a part of the plurality of small detection areas 51 that constitute the detection area 5. When the door 21 is in the closed position in the special detection area 51 </ b> A, detection by a detection algorithm for activation that detects a person or an object is performed, and a detection result by the detection algorithm for activation is used for drive control of the door 21. Further, in the special detection area 51A, when the door 21 is located at a position other than the closed position, detection using a protection detection algorithm that makes it easier to detect a person or an object than the activation detection algorithm is performed, and the detection result based on the protection detection algorithm is activated It is used for drive control of the door 21 instead of the detection result by the detection algorithm.

The activation detection algorithm is, for example, a detection algorithm for detecting a passerby or the like and opening the door 21 (that is, activation). The activation detection algorithm is a detection algorithm whose main purpose is to reduce the malfunction of the door 21 due to the erroneous detection of the automatic door sensor 3 based on the structure of the automatic door system 1 and the influence of the installation environment of the automatic door system 1. The activation detection algorithm is a process with relatively low sensitivity of the automatic door sensor 3, that is, as a reference value or algorithm for determining that a person or an object exists from a signal value (physical value) detected by the automatic door sensor 3, A thing that makes it relatively difficult to determine that a person or an object exists is used. As such an algorithm, there are an algorithm that prevents erroneous detection due to snowfall and an algorithm that prevents erroneous detection due to insects flying around the automatic door sensor 3. The activation detection algorithm is suitable for reducing unnecessary opening and closing of the door 21.
In the present embodiment, the detection unit 31 and the sensor control unit 32 that executes the startup detection algorithm constitute the startup detection means.

The detection algorithm for protection detects, for example, a passerby who stops in the vicinity of the door 21 or an object existing in the vicinity of the door 21 and protects the passerby and the object from a collision with the door 21 such as being caught by the door 21 to be closed. This is a detection algorithm that focuses on this. The detection algorithm for protection is a process with relatively high sensitivity of the automatic door sensor 3, that is, as a reference value or algorithm for determining that a person or an object exists from a signal value (physical value) detected by the automatic door sensor 3, A thing that makes it relatively easy to determine that a person or an object exists is used. The detection algorithm for protection is suitable for improving safety.
In this embodiment, the sensor control unit 32 that executes the detection unit 31 and the detection algorithm for protection constitutes a detection unit for protection.

  The detection algorithm for activation and the detection algorithm for protection are stored in the sensor control unit 32 that performs detection of a passerby.

  The sensor control unit 32 performs detection by at least one of the detection algorithm for activation and the detection algorithm for protection in the special detection area 51A, and according to one of the detection algorithm for activation and the detection algorithm for protection according to the open / closed state of the door 21. The detection result is used for driving control of the door 21.

  Specifically, when the door 21 is in the closed position, the sensor control unit 32 performs detection based only on the activation detection algorithm in the special detection area 51A set as the effective detection area, and the door 21 is in the closed position. May be switched to detection only by the protective detection algorithm in the same special detection area 51A.

  In this case, when the door 21 is in the closed position, the sensor control unit 32 outputs an open signal to the door control unit 23 according to the detection result of the activation detection algorithm in the special detection area 51A. The door control unit 23 drives and controls the door 21 based on the detection result by the detection algorithm for activation. In addition, when the door 21 is in a position other than the closed position, the sensor control unit 32 outputs an open signal to the door control unit 23 according to the detection result by the detection algorithm for protection in the special detection area 51A. The door control unit 23 drives and controls the door 21 based on the detection result by the protection detection algorithm. For example, when the door 21 performs the closing operation from the fully open state, if a passerby is detected in the special detection area 51A by the protection detection algorithm, the sensor control unit 32 outputs the open signal to the door 21 to be closed. To prevent people passing by. When the door 21 performs the closing operation, if a passerby or the like is detected in the special detection area 51A by the detection algorithm for protection, the sensor control unit 32 stops the output of the closing signal (that is, the closing operation of the door 21). May be prevented from being caught by a passerby or the like to the door 21.

  Alternatively, when the door 21 is in the closed position, the sensor control unit 32 performs detection using both detection algorithms for activation and protection in the special detection area 51A set as the effective detection area, and detection for activation. Only the detection result by the algorithm may be output to the door control unit 23. The door control unit 23 drives and controls the door 21 based on the detection result. Further, when the door 21 is in a position other than the closed position, the sensor control unit 32 uses a detection algorithm for both activation and protection in the special detection area 51A that is the same detection area as when the door 21 is in the closed position. Detection may be performed, and only the detection result by the protection detection algorithm may be output to the door control unit 23. The door control unit 23 drives and controls the door 21 based on the detection result.

  When the detection of the passerby is executed by the door control unit 23, the activation detection algorithm and the protection detection algorithm may be stored in the door control unit 23. In this case, when the door 21 is in the closed position, the door control unit 23 detects a passer-by by the activation detection algorithm in the special detection area 51A set as the effective detection area, and detects the passer-by. Accordingly, the door 21 may be controlled to open. In addition, when the door 21 is in a position other than the closed position, the sensor control unit 32 detects a passerby by a protection detection algorithm in the special detection area 51A set as an effective detection area, and responds to the detection of the passerby. The door 21 may be controlled to be opened.

  By having the special detection area 51A, when the door 21 is closed, the detection result by the detection algorithm for activation that lowers the sensitivity of the sensor 3 can be used for drive control of the door 21, and the door 21 is opened. In this case, the detection result by the protective detection algorithm for increasing the sensitivity of the sensor 3 can be used for the drive control of the door 21. Thereby, reduction of unnecessary opening and closing of the door 21 and improvement of safety can be achieved at the same time.

  According to the standard, the detection area to which the protection detection algorithm is applied is required to be within 200 mm forward from the door 21. For this reason, the special detection area 51A is a small detection area 51A in the second and third rows as viewed from the door 21, as shown in FIG. By setting the small detection areas 51A in the second and third rows as the special detection areas 51A, the standard can be satisfied and the safety in the vicinity of the door 21 can be further improved. In addition, according to the size of the small detection area 51, the number of rows of the small detection areas set as the special detection area 51A can be arbitrarily changed.

  In addition, as shown in FIG. 2, the sensor control unit 32 includes only a detection algorithm for activation as a part of the small detection areas 51B other than the special detection area 51A among the plurality of small detection areas 51 constituting the detection area 5. You may have the starting detection area 51B where detection by is performed. The activation detection area 51 </ b> B may be a detection area in which detection is performed by both the activation detection algorithm and the protection detection algorithm, and only the detection result by the activation detection algorithm is used for drive control of the door 21. The special detection area 51A may be arranged at a position closer to the door 21 than the activation detection area 51B. In the example of FIG. 2, the activation detection area 51B is a small detection area 51B in the fourth to sixth rows. By disposing the activation detection area 51B at a position away from the door 21 where the danger due to the stoppage of the passerby is low, erroneous detection in the detection area 5 away from the door 21 can be effectively reduced.

  The small detection area 51C in the first row is detected only by the activation detection algorithm when the door 5 is in the closed position, and when the door 5 is open, the door 5 is mistaken as a passerby. It may be an invalid area so as not to detect it. “Invalid” includes a meaning that even if it is detected, the signal is not treated as a valid signal, and a meaning that the detection operation is stopped so as not to be detected (the same applies hereinafter).

  The sensor control unit 32 detects only a protection detection algorithm as a part of the small detection areas 51 other than the special detection area 51A and the activation detection area 51B among the plurality of small detection areas 51 constituting the detection area 5. You may have the protection detection area where is performed. For example, the small detection area 51C in the first row may be used as the protection detection area. Even when the first row small detection area 51C is used as the protection detection area, when the door 21 is moving, the first row small detection is performed so that the door 21 is not erroneously detected as a passerby. The small detection area 51 corresponding to the position where the door 21 exists in the area 51C may be invalidated or the sensitivity may be lower than that of the activation detection area 51B (the door 21 is less likely to be erroneously detected). Such a detection algorithm is referred to as a doorway detection algorithm in this embodiment. In this case, the special detection area 51C constitutes the second special detection area, and the sensor control unit 32 that executes the detection algorithm for the doorway and the detection part 31 constitutes the doorway detection means. When the first row small detection area 51C is used as the protection detection area, the special detection area 51A is arranged between the activation detection area 51B and the protection detection area 51C. In this case, according to switching of the detection algorithm in the special detection area 51A, the small detection area 51 in which detection by the detection algorithm for activation is performed or the small detection area 51 in which detection by the detection algorithm for protection is performed can be enlarged. Thereby, reduction of unnecessary opening and closing of the door 21 and improvement of safety can be achieved more effectively.

  FIG. 3 is a conceptual diagram showing a detection algorithm in the automatic door system 1 according to the present embodiment. As shown in FIG. 3, in the detection by the detection algorithm for protection, a stationary body from when a person or object is detected until the detected person or object is determined as a stationary body (that is, a background) and excluded from the detection target. The detection time may be longer than the stationary object detection time in the detection by the activation detection algorithm. The specific mode of the stationary object detection time is not particularly limited. For example, the stationary object detection time in the activation detection algorithm may be 5 seconds, and the stationary object detection time in the protection detection algorithm may be 30 seconds. By making the stationary object detection time in the protection detection algorithm longer than the stationary object detection time in the activation detection algorithm, when the door 21 is opened, it is possible to detect a long-time stop, thereby improving safety. Can do. Moreover, since the influence of disturbance can be suppressed when the door 21 is closed, unnecessary opening and closing of the door 21 can be prevented.

  Also, as shown in FIG. 3, the activation detection algorithm is an algorithm using a time filter known in the field of signal processing, and may have a first mode for detecting a person or an object. . At this time, the protective detection algorithm does not have the first mode. The first mode is a mode for reducing the sensitivity of the automatic door sensor 3 in the time direction. Since the start detection algorithm has the first mode and the protection detection algorithm does not have the first mode, the door 21 can be prevented from being opened and closed under a situation where there is a variation in the time direction, and the safety is lowered. Can be suppressed.

  Also, as shown in FIG. 3, the activation detection algorithm is an algorithm using a spatial filter known in the field of signal processing, and may have a second mode for detecting a person or an object. . At this time, the protective detection algorithm does not have the second mode. The second mode is a mode for reducing the sensitivity of the automatic door sensor 3 in the spatial direction. Since the detection algorithm for activation has the second mode and the detection algorithm for protection does not have the second mode, the safety of the door 21 is prevented from being opened and closed under circumstances that vary in the space, and the safety is reduced. Can be suppressed.

  In addition, as shown in FIG. 3, the activation detection algorithm is a third condition in which the detection condition is that the change is greater than or equal to a threshold value set higher than a predetermined threshold value for detecting a person or an object. You may have a mode. At this time, the protection detection algorithm does not have the third mode. The third mode is a mode in which the detection sensitivity setting value of the automatic door sensor 3 that is originally set is uniformly blunted. Since the detection algorithm for activation has the third mode and the detection algorithm for protection does not have the third mode, unnecessary opening and closing of the door 21 due to the change in the mounting position of the automatic door sensor 3 due to the operation of the door 21 is performed. It is possible to prevent a decrease in safety while preventing it.

  In addition, the sensor control unit 32 detects an exit side detection area (hereinafter also referred to as an exit side start detection area) in which detection is performed only by the activation detection algorithm, and an exit side detection in which detection is performed by the protection detection algorithm. An area (hereinafter also referred to as a protection detection area on the exit side) may be included. In this case, the sensor control unit 32 may perform exit invalidation control that invalidates the exit-side activation detection area when the exit-side protection detection area is not detected. By performing the exit invalid control, it is possible to suppress a decrease in safety while minimizing the opening time of the door 21.

  Further, the sensor control unit 32 may perform crossing invalidation control for invalidating the activation detection area 51B when it is detected that the person or object is moving only in the direction along the door 21 in the activation detection area 51B. Good. The “direction along the door 21” may be the opening / closing direction d1 of FIG. 2, or the angle formed with the opening / closing direction d1 is within a threshold value (that is, almost the same direction as the opening / closing direction d1). Also good. By performing the crossing invalidation control, it is possible to more effectively prevent the door 21 from being unnecessarily opened and closed and to suppress a decrease in safety.

  Further, the activation detection algorithm and the protection detection algorithm are not limited to one each, and may be a plurality of types. When using multiple types of protective detection algorithms, multiple protective detection algorithms are required to operate in parallel even if the protective detection algorithm is switched according to changes in the door position, door control status, or sensor control status. You may choose something.

  In addition, the sensor control unit 32 switches from the detection algorithm for activation to the detection algorithm for protection when the door 21 starts opening, when the door 21 is fully opened, and when the door 21 starts opening. Then, it may be performed at any point in the middle from when it is fully opened.

(Operation example)
Next, an operation example of the automatic door system 1 will be described. FIG. 4 is a flowchart showing switching of the detection algorithm according to the door state in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 4 is repeated as necessary.

  As shown in FIG. 4, first, the sensor control unit 32 determines a door state indicating the open / closed state of the door 21 based on the position signal input from the motor 22 (step S1). When the door state is the fully closed state, the sensor control unit 32 executes activation detection control, which is an example of detection by the activation detection algorithm, in the special detection area 51A (step S2A). Even when the door state is open, the sensor control unit 32 executes protection detection control in the special detection area 51A (step S2B). Note that activation detection control is always executed in the activation detection area 51B.

  On the other hand, when the door 21 is in the fully open state, the sensor control unit 32 executes protection detection control, which is an example of detection by the protection detection algorithm, in the special detection area 51A (step S2C). Even when the door 21 is in the closing operation, the sensor control unit 32 executes protection detection control in the special detection area 51A (step S2D). Note that protection detection control is always executed in the protection detection area.

  FIG. 5 is a flowchart showing the activation detection control in the operation example of the automatic door system 1 according to the present embodiment. FIG. 6A is a flowchart illustrating an example of protection detection control in the operation example of the automatic door system 1 according to the present embodiment. FIG. 6B is a flowchart illustrating another example of protection detection control. The flowcharts of FIGS. 5, 6A, and 6B are repeated as necessary.

(Startup detection control: S2A, S2B)
When executing the activation detection control (steps S2A and S2B), first, the sensor control unit 32 reads the control parameters described in the activation detection algorithm as shown in FIG. 5 (step S21). FIG. 7 is a flowchart showing reading of control parameters in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 7 is repeated as necessary.

(Reading control parameters: S21)
In reading the control parameter (step S21), first, the sensor control unit 32 reads the setting value of the sensitivity parameter as shown in FIG. 7 (step S211). The sensitivity parameter setting value described in the activation detection algorithm is equal to or less than the sensitivity parameter setting value described in the protection detection algorithm.

  After reading the sensitivity parameter setting value, the sensor control unit 32 reads the stationary object detection time setting value (step S212). The set value of the stationary object detection time described in the activation detection algorithm is shorter than the set value of the stationary object detection time described in the protection detection algorithm.

  After reading the set value of the stationary object detection time, the sensor control unit 32 reads the set value of the time filter (step S213). The set value of the time filter is a parameter related to the presence / absence of the first mode. When the detection algorithm for activation has the first mode and the detection algorithm for protection does not have the first mode, the setting value of the time filter described in the detection algorithm for activation is the time filter described in the detection algorithm for protection More than the set value.

  After reading the setting value of the time filter, the sensor control unit 32 reads the setting value of the spatial filter (step S214). The set value of the spatial filter is a parameter related to the presence / absence of the second mode. The set value of the spatial filter described in the activation detection algorithm having the second mode is larger than the set value of the spatial filter described in the protection detection algorithm not having the second mode.

  After reading the setting value of the spatial filter, the sensor control unit 32 reads the setting value of the change amount threshold value (step S215). The change amount threshold is a parameter relating to the presence or absence of the third mode, and indicates a change amount threshold of the received light amount for determining that a passerby has been detected. When the activation detection algorithm has the third mode and the protection detection algorithm does not have the third mode, the setting value of the change amount threshold described in the activation detection algorithm is the change described in the protection detection algorithm. It is higher than the set value of the amount threshold.

(Detection / background update control: S22)
After reading the control parameters, as shown in FIG. 5, the sensor control unit 32 performs detection control and background update control (step S22). FIG. 8 is a flowchart showing detection / background update control in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 8 is repeated as necessary.

  In the detection / background update control, first, the sensor control unit 32 determines that a passerby has been detected based on the received light amount storage value stored in advance and the sensitivity parameter read in step S211 of FIG. The increase side threshold value and decrease side threshold value of the received light amount are calculated with reference to the received light amount stored value (step S221).

  FIG. 9 is an explanatory diagram for explaining detection / background update control in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 9 is repeated as necessary. FIG. 9 shows a correspondence relationship between the received light amount indicated in the detection signal of the small detection area 51, the received light amount storage value, the sensitivity parameter, the increase side threshold value, the decrease side threshold value, and the state of the detection flag. ing. As shown in FIG. 9, the sensitivity parameter indicates the amount of received light on the increasing side or the decreasing side with respect to the received light amount stored value (reference value) obtained at a predetermined time such as immediately after the automatic door system 1 is turned on. This is the amount of change in the amount of received light that indicates whether or not the detection state is reached.

  In the example of FIG. 9, an increase side threshold value is obtained by adding a sensitivity parameter to the received light amount storage value. If the amount of received light is equal to or greater than the increase-side threshold, the sensor control unit 32 turns on the detection flag and enters a passer-by detection state when the amount of received light has changed within a stationary body detection time described later. . In the example of FIG. 9, the decrease side threshold value is obtained by subtracting the sensitivity parameter from the received light amount storage value. Even when the amount of received light is equal to or less than the decrease-side threshold, the sensor control unit 32 turns on the detection flag and sets the detection state of the passerby when the amount of received light changes within a stationary body detection time described later. Become. On the other hand, when the amount of received light is larger than the decrease-side threshold and smaller than the increase-side threshold, the sensor control unit 32 turns off the detection flag and enters the non-detection state of the passerby. The detection flag is set in a storage area of the door control unit 23, for example.

  After calculating the increase-side threshold value and the decrease-side threshold value, as shown in FIG. 8, the sensor control unit 32 determines whether the amount of received light indicated by the detection signal is greater than or equal to the increase-side threshold value or less than the decrease-side threshold value. (Step S222).

  If the amount of received light is not greater than or equal to the increase threshold or less than the decrease threshold (step S222: N), the sensor control unit 32 turns off the detection flag (step S223).

  On the other hand, when the amount of received light is not less than the increase side threshold or not more than the decrease side threshold (step S222: Y), the sensor control unit 32 determines that the received light amount indicated by the detection signal is read in step S212 in FIG. It is determined whether or not there is a change during the detection time or longer (step S224).

  If the amount of received light changes within the stationary body detection time (step S224: N), the sensor control unit 32 turns on the detection flag (step S225).

  On the other hand, when there is no change in the amount of received light for the stationary body detection time or longer (step S224: Y), the sensor control unit 32 turns off the detection flag (step S226).

  After turning off the detection flag, the sensor control unit 32 updates the received light amount storage value to the current received light amount (step S227).

(First mode control: S23)
After performing the detection / background update control, as shown in FIG. 5, the sensor control unit 32 performs the first mode control (step S23). FIG. 10 is a flowchart showing the first mode control in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 10 is repeated as necessary.

  In the first mode control, first, the sensor control unit 32 determines whether or not the detection flag is turned on as shown in FIG. 10 (step S231).

  When the detection flag is not turned on (step S231: N), the sensor control unit 32 ends the first mode control with the detection flag turned off.

  On the other hand, when the detection flag is on (step S231: Y), the sensor control unit 32 determines whether or not the first mode control setting is valid based on, for example, description information of the activation detection algorithm ( Step S232).

  When the first mode control setting is not valid (step S232: N), the sensor control unit 32 ends the first mode control with the detection flag turned on.

  On the other hand, when the first mode control setting is valid (step S232: Y), the sensor control unit 32 determines whether or not the detection state is maintained even when the time filter is applied to the detection signal (step S233). ).

  If the detection state is not maintained when the time filter is applied to the detection signal (step S233: N), the sensor control unit 32 turns off the detection flag (step S234).

  On the other hand, when the detection state can be maintained even if the time filter is applied to the detection signal (step S233: Y), the sensor control unit 32 ends the first mode control while keeping the detection flag on.

(Second mode control: S24)
After performing 1st mode control, as shown in FIG. 5, the sensor control part 32 performs 2nd mode control (step S24). FIG. 11 is a flowchart showing the second mode control in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 11 is repeated as necessary.

  In the second mode control, first, the sensor control unit 32 determines whether or not the detection flag is turned on as shown in FIG. 11 (step S241).

  If the detection flag is not turned on (step S241: N), the sensor control unit 32 ends the second mode control with the detection flag turned off.

  On the other hand, when the detection flag is turned on (step S241: Y), the sensor control unit 32 determines whether or not the second mode control setting is valid based on, for example, description information of the activation detection algorithm ( Step S242).

  If the second mode control setting is not valid (step S242: N), the sensor control unit 32 ends the second mode control with the detection flag turned on.

  On the other hand, when the second mode control setting is valid (step S242: Y), the sensor control unit 32 determines whether or not the detection state is maintained even when the spatial filter is applied to the detection signal (step S243). ).

  If the detection state is not maintained when the spatial filter is applied to the detection signal (step S243: N), the sensor control unit 32 turns off the detection flag (step S244).

  On the other hand, if the detection state can be maintained even if the spatial filter is applied to the detection signal (step S243: Y), the sensor control unit 32 ends the second mode control while keeping the detection flag on.

(Third mode control: S25)
After performing the second mode control, as shown in FIG. 5, the sensor control unit 32 performs the third mode control (step S25). FIG. 12 is a flowchart showing the third mode control in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 12 is repeated as necessary.

  In the third mode control, first, as shown in FIG. 12, the sensor control unit 32 determines whether or not the detection flag is turned on (step S251).

  When the detection flag is not turned on (step S251: N), the sensor control unit 32 ends the third mode control with the detection flag turned off.

  On the other hand, when the detection flag is turned on (step S251: Y), the sensor control unit 32 determines whether or not the third mode control setting is valid based on, for example, description information of the activation detection algorithm ( Step S252).

  If the third mode control setting is not valid (step S252: N), the sensor control unit 32 ends the third mode control while turning on the detection flag.

  On the other hand, when the third mode control setting is valid (step S252: Y), the sensor control unit 32 determines that the change amount of the received light amount indicated by the detection signal is equal to or greater than the change amount threshold value read in step S215 in FIG. It is determined whether or not (step S253).

  When the change amount of the received light amount indicated by the detection signal is not equal to or greater than the read change amount threshold value (step S253: N), the sensor control unit 32 turns off the detection flag (step S254).

  On the other hand, when the change amount of the received light amount indicated by the detection signal is equal to or larger than the read change amount threshold value (step S253: Y), the sensor control unit 32 ends the third mode control with the detection flag turned on.

(Exit invalidation control: S26)
After performing the third mode control, as shown in FIG. 5, the sensor control unit 32 performs the exit invalid control (step S26). FIG. 13 is a flowchart showing the exit invalid control in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 13 is repeated as necessary.

  In the exit invalid control, first, the sensor control unit 32 determines whether or not the detection flag is turned on as shown in FIG. 13 (step S261).

  When the detection flag is not turned on (step S261: N), the sensor control unit 32 ends the exit invalidation control with the detection flag turned off.

  On the other hand, when the detection flag is turned on (step S261: Y), the sensor control unit 32 determines whether or not the exit invalid control setting is valid based on, for example, the description information of the activation detection algorithm (step S261). S262).

  If the exit invalid control setting is not valid (step S262: N), the sensor control unit 32 ends the exit invalid control while the detection flag is on.

  FIG. 14 is an explanatory diagram for explaining the exit invalid control in the operation example of the automatic door system 1 according to the present embodiment. When the exit invalid control setting is valid (step S262 in FIG. 13: Y), the sensor control unit 32, as shown in FIG. 14, out of the small detection areas 52 set on the exit side of the door 21. Based on the detection signal from the protection detection area 52A, it is determined whether or not the exit-side protection detection area 52A is in a non-detection state (step S263). FIG. 14 shows a state in which the passerby has moved in the direction away from the door 21 (in the direction of the arrow in FIG. 14) rather than the protection detection area 52 </ b> A on the exit side after passing through the opening of the door 21. In the example of FIG. 14, the exit-side protection detection area 52A is in a non-detection state.

  When the exit-side protection detection area 52A is in the non-detection state (step S263: Y), the sensor control unit 32 turns off the detection flag (step S264).

  On the other hand, when the protection detection area 52A on the exit side is not in the non-detection state (step S263: N), the sensor control unit 32 ends the exit invalid control with the detection flag turned on.

(Crossing invalid control: S27)
After performing the exit invalidation control, as shown in FIG. 5, the sensor control unit 32 performs the crossing invalidation control (step S27). FIG. 15 is a flowchart showing the crossing invalidation control in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 15 is repeated as necessary.

  In the crossing invalidation control, first, as shown in FIG. 15, the sensor control unit 32 determines whether or not the detection flag is turned on (step S271).

  When the detection flag is not turned on (step S271: N), the sensor control unit 32 ends the crossing invalidation control with the detection flag turned off.

  On the other hand, when the detection flag is turned on (step S271: Y), the sensor control unit 32 determines whether or not the crossing invalidation control setting is valid based on, for example, the description information of the activation detection algorithm (step S271). S272).

  If the crossing invalidation control setting is not valid (step S272: N), the sensor control unit 32 ends the crossing invalidation control with the detection flag turned on.

  FIG. 16 is an explanatory diagram for explaining crossing invalidation control in the operation example of the automatic door system 1 according to the present embodiment. When the crossing invalidation control setting is valid (step S272: Y), the sensor control unit 32, as shown by the arrow in FIG. 16, based on the movement vector of the passerby obtained from the change in the small detection area 51 of the detection state. Next, it is determined whether or not the passerby is moving only in the direction crossing the front of the door 21 (that is, the direction along the door 21) (step S273).

  When the passerby is moving only in the direction crossing the front of the door 21 (step S273: Y), the sensor control unit 32 turns off the detection flag (step S274).

  On the other hand, when the passerby is not moving in the direction crossing the front of the door 21 (step S273: Y), the sensor control unit 32 ends the crossing invalidation control with the detection flag turned on.

(Detection judgment: S28)
After performing the crossing invalidation control, as shown in FIG. 5, the sensor control unit 32 makes a detection determination (step S28). FIG. 17 is a flowchart showing detection determination in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 17 is repeated as necessary.

  In the detection determination, first, the sensor control unit 32 determines whether or not the detection flag is turned on as shown in FIG. 17 (step S281).

  When the detection flag is not turned on (step S281: N), the sensor control unit 32 determines that the passerby is not detected (step S282).

  On the other hand, when the detection flag is turned on (step S281: Y), the sensor control unit 32 determines that a passerby has been detected (step S283).

  As described above, the activation detection control (S2A, S2B) is performed. In the activation detection control, the order of the steps shown in steps S22 to S27 in FIG. 5 may be changed. Also, some steps may be omitted.

(Protection detection control: S2C, S2D)
On the other hand, when performing protection detection control (step S2C, step S2D), the sensor control part 32 performs each process shown by Fig.6 (a) or FIG.6 (b). The protection detection control shown in FIG. 6A is different from the activation detection control of FIG. 5 in the first mode control (step S23), the second mode control (step S24), the third mode control (step S25), The exit invalid control (step S26) and the crossing invalid control (step S27) are not executed. However, even in the protection detection control, any combination of the first mode control, the second mode control, the third mode control, the exit invalid control, and the crossing invalid control, depending on the relationship between the safety to be secured and the reduction in unnecessary switching. May be executed. Further, the sensor control unit 32 selects what kind of protection detection algorithm to use depending on whether the door state determined in step S1 of FIG. 4 is a fully open state or a closing operation. May be. That is, the sensor control unit 32 may change the detection algorithm for protection used for detection according to the door position.

  According to the present embodiment, in the same special detection area 51A, when the door 21 is in the closed position, detection is performed by the activation detection algorithm, and when the door 21 is in a position other than the closed position, detection is performed by the protection detection algorithm. be able to. Thereby, when the door 21 is in the closed position, it is possible to prevent the door 21 from being unnecessarily opened and closed due to erroneous detection by the protection detection algorithm. Further, when the door 21 is in a position other than the closed position, it is possible to prevent the safety in the vicinity of the door 21 from being impaired due to a detection failure by the activation detection algorithm. Therefore, according to this embodiment, it is possible to achieve both reduction of unnecessary opening and closing of the door and improvement of safety.

(First modification)
Next, a first modification that performs detection based on a captured image will be described. FIG. 18 is a block diagram showing an automatic door system 1 according to a first modification of the present embodiment. As illustrated in FIG. 18, the automatic door sensor 3 according to the first modification includes an imaging unit 313 as an example of a detection unit instead of the light projecting unit 311 and the light receiving unit 312. The imaging unit 313 is, for example, a CCD or CMOS camera having sensitivity in the visible light range. The imaging unit 313 may be an infrared camera having sensitivity in the infrared region.

  The imaging unit 313 images the detection area 5 and outputs a detection signal indicating a captured image of the detection area 5 to the sensor control unit 32. The sensor control unit 32 detects a passerby or the like based on the detection signal input from the imaging unit 313, and outputs an open signal to the door control unit 23 in response to the detection of the passerby or the like. In the first modified example, detection of passers-by may be performed on the door control unit 23 side.

  Also in the first modification, for the same special detection area 51A, when the door 21 is in the closed position, the sensor control unit 32 uses the detection result by the detection algorithm for activation for the drive control of the door 21, and the door 21 When it is in a position other than the closed position, the detection result based on the detection algorithm for protection is switched to the detection result based on the detection algorithm for activation and used for driving control of the door 21. Thereby, reduction of unnecessary opening and closing of the door and improvement of safety can be achieved at the same time. In addition, according to the first modification, a passerby or the like can be detected with high accuracy based on the captured image, so that it is possible to more effectively achieve both reduction in unnecessary opening and closing of the door and improvement in safety.

(Second modification)
Next, a second modification that performs detection based on the Doppler effect by radio waves will be described. FIG. 19 is a block diagram showing an automatic door system 1 according to a second modification of the present embodiment. As shown in FIG. 19, the automatic door sensor 3 of the second modified example includes a radio wave transmission / reception unit 314 as an example of a detection unit. The radio wave transmission / reception unit 314 transmits a radio wave to the detection area 5 and detects an interference wave between the transmitted radio wave and a reflected wave from a passerby or the like existing in the detection area 5. Then, the radio wave transmission / reception unit 34 outputs a detection signal indicating an interference wave to the sensor control unit 32. The sensor control unit 32 detects a passerby based on the detection signal input from the radio wave transmission / reception unit 34, and outputs an open signal to the door control unit 23 in response to detection of the passerby or the like. In the second modification, the passer-by may be detected on the door control unit 23 side.

  Also in the second modification, for the same special detection area 51A, when the door 21 is in the closed position, the sensor control unit 32 uses the detection result by the detection algorithm for activation for the drive control of the door 21, and the door 21 When it is in a position other than the closed position, the detection result based on the detection algorithm for protection is switched to the detection result based on the detection algorithm for activation and used for driving control of the door 21. Thereby, reduction of unnecessary opening and closing of the door and improvement of safety can be achieved at the same time.

  The automatic door sensor 3 may use an ultrasonic wave or a distance measuring sensor instead of the above-described infrared rays, images, and radio waves.

(Third Modification)
Next, a third modification will be described. FIG. 20 is a block diagram showing an automatic door system 1 according to a third modification of the present embodiment. As shown in FIG. 20, the automatic door sensor 3 of the third modified example uses the detection result of two types of detection results, that is, a detection result by the detection algorithm for activation and a detection result by the detection algorithm for protection to the door control unit 23. Output. Upon receiving the two types of detection signals, the door control unit 23 determines which detection result is used for control, or which detection result is not used, according to the position of the door 21 and other conditions. For example, even if it is determined that a person or an object does not exist according to the detection result by the detection algorithm for activation, if it is determined that a person or an object exists according to the detection result by the protection detection algorithm, The door 21 can be closed at a lower speed than normal.

  Also in the third modified example, when the door 21 is in the closed position for the same special detection area 51A, the door control unit 32 uses the detection result by the detection algorithm for activation for the drive control of the door 21, and the door 21 When it is in a position other than the closed position, the detection result based on the detection algorithm for protection is switched to the detection result based on the detection algorithm for activation and used for driving control of the door 21. Thereby, reduction of unnecessary opening and closing of the door and improvement of safety can be achieved at the same time.

  The aspects of the present invention are not limited to the individual embodiments described above. For example, instead of using the detection algorithm for activation and the detection algorithm for protection, the activation is physically separate but the detection areas overlap. A sensor for protection and a sensor for protection may be used. In this case, the activation sensor has a function of detecting a person or an object equivalent to the activation detection algorithm, and the protection sensor has a function of detecting a person or an object equivalent to the protection detection algorithm.

  The aspect of the present invention is not limited to the individual embodiments described above, and includes various modifications that can be conceived by those skilled in the art, and the effects of the present invention are not limited to the contents described above. That is, various additions, modifications, and partial deletions can be made without departing from the concept and spirit of the present invention derived from the contents defined in the claims and equivalents thereof.

DESCRIPTION OF SYMBOLS 1 Automatic door system, 23 Door control part (control means), 3 Automatic door sensor, 31 detection part, 32 Sensor control part (control means), 51A Special detection area

Claims (6)

A control means for driving and controlling the door based on the detection result of the person or object in the detection area,
In the special detection area that is a part of the detection area, when the door is in the closed position, the control means uses the detection result by the detection means for activation that detects a person or an object for driving control of the door, When the door is in a position other than the closed position, the detection result by the protective detection means that is easier to detect a person or an object than the activation detection means is used for drive control of the door.
Automatic door system. The detection area further includes an activation detection area that performs detection only by the activation detection means, and the special detection area is disposed closer to the door than the activation detection area.
The automatic door system according to claim 1. Further comprising doorway detection means for detecting a person or an object on the movement path of the door, the detection area has a second special detection area for detection by the doorway detection means and the protection detection means,
In the second special detection area, when the door is in the fully open position, the control means uses the detection result of the protection detection means for driving control of the door, and when the door is in a position other than the fully open position, The detection result by the detection means for use is used for drive control of the door.
The automatic door system as described in any one of Claims 1 thru | or 2. It further comprises a fixed wall side detection means for detecting a person or an object near the fixed wall portion of the door, and the detection area is a third special detection area for performing detection by the fixed wall side detection means and the protection detection means. Have
When the door is moving in the fully open direction in the third special detection area, the control means uses the detection result of the fixed wall side detecting means for driving control of the door, and the door is moved in the fully open direction. Except when the detection result by the detection means for protection is used for driving control of the door,
The automatic door system as described in any one of Claims 1 thru | or 3.   In the detection by the detection means for protection, the stationary body detection time from when the person or object is detected until the detected person or object is determined as a stationary body and excluded from the detection target is determined by the activation detection means. The automatic door system according to any one of claims 1 to 4, wherein the stationary body detection time is longer than the stationary body detection time in detection. In a special detection area that is a part of a detection area for detecting a person or an object, when the door is in the closed position, detection is performed by a detection means for activation that detects a person or an object, and the result is driven to the door. Used for control,
When the door is in a position other than the closed position, detection is performed by a protective detection means that can detect a person or an object more easily than the detection means for activation in the special detection area, and the result is used for drive control of the door. To control the automatic door system.

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