JP2021161775A - Automatic door system, object detection system, object detection range adjustment method, and automatic door system detection range adjustment method - Google Patents

Abstract

To provide an automatic door system, etc. that can detect the occurrence of an abnormality in a sensor.SOLUTION: The automatic door system comprises a door engine 128 that controls the opening and closing of a sliding door of an automatic door device 102, a first sensor 112 that detects a person or an object passing through an opening of the automatic door device 102, a second sensor 114 that detects a person or an object in the vicinity of the opening, including at least a part of the opening, and a determination unit 154 that determines whether or not detection results of the first sensor 112 and the second sensor 114 match in respective detection ranges of the first sensor 112 and the second sensor 114.SELECTED DRAWING: Figure 5

Description

The present invention relates to an automatic door system, an object detection system, an object detection range adjusting method, and an automatic door system detection range adjusting method.

Conventionally, in an automatic door system, a technique of projecting light from a light emitting side to a light receiving side of a photoelectric sensor and detecting a person or an object based on the light receiving state has been used (for example, Patent Document 1). In Patent Document 1, a plurality of light receiving units and a plurality of light emitting units are provided, and by adopting a combination of the light receiving unit and the light emitting unit having the largest light receiving amount, it is possible to automatically correct a connection error of the floodlight and the light receiving unit. I have to.

JP-A-2002-227525

However, in the system described in Patent Document 1, when a person or an object comes into contact with the photoelectric sensor during operation, the angle of the optical axis on the light emitting side of the photoelectric sensor or the light receiving direction on the light receiving side shifts, or the light emitting side or Dirt may adhere to the light receiving side. In this case, even if a plurality of light receiving units and a plurality of light projecting units are provided, the light does not always reach the light receiving side. If the light receiving side cannot detect the light on the light emitting side, the photoelectric sensor is always in a state of detecting a person or an object, which may hinder the operation.

Therefore, there is a demand for being able to detect that an abnormality has occurred in the sensor, such as the light projected on the light emitting side not being received on the light receiving side for some reason.

The present invention proposes a technique for solving such a demand, and an object of the present invention is to provide an automatic door system or the like that can detect that an abnormality has occurred in a sensor.

One aspect of the present invention includes a control unit that controls the opening and closing of the sliding door of the automatic door device, a first sensor that detects a person or an object passing through the opening of the automatic door device, and a person in the vicinity of the opening including at least a part of the opening. Alternatively, it includes a second sensor that detects an object, and a determination unit that determines whether or not the detection results of the first sensor and the second sensor match in the detection ranges of the first sensor and the second sensor, respectively.

The perspective view of the automatic door system according to 1st Embodiment is shown. A schematic cross-sectional view of the AA cross section of FIG. 1 is shown. The front view of the automatic door device is shown. The top view which shows the detection area of an automatic door device is shown. The block diagram of the automatic door device is shown. A flow chart showing a series of processes of the automatic door device is shown. A flow chart showing a series of processes of the automatic door device is shown. A flow chart showing a series of processes of the automatic door device is shown. The front view of the automatic door device according to 2nd Embodiment is shown.

Hereinafter, the first embodiment of the present invention will be described. The automatic door system according to the first embodiment has two sensors that detect a person or an object (hereinafter, may be simply referred to as "person or the like") within two overlapping detection ranges. When the detection results of the two sensors do not match, the automatic door system adjusts the orientation of the sensors, etc., assuming that an abnormality has occurred.

In the following description, the width direction and the front-back direction may be used as terms indicating the direction. The front-rear direction refers to the direction of movement of a person or the like when passing through the automatic door device. The width direction refers to a direction orthogonal to the moving direction of a person or the like in a horizontal plane.

FIG. 1 shows a perspective view of an automatic door system according to the first embodiment. FIG. 2 shows a schematic cross-sectional view of the AA cross section of FIG. As shown in FIGS. 1 and 2, the automatic door system 100 includes an automatic door device 102. The automatic door device 102 includes a transom 104, a pair of vertical frames 106, two sliding doors 108, two fixing portions 110, a first sensor 112, and a pair of second sensors 114. The number of sliding doors 108 may be any number.

The automatic door device 102 opens the opening Op by sliding the sliding doors 108 in a direction in which the two sliding doors 108 are separated from each other when a person or the like approaches. The automatic door device 102 detects the presence or absence of a person or the like in the opening Op by the first sensor 112, and after the person or the like disappears from the opening Op, slides the sliding door 108 to close the opening Op.

The transom 104 is a box-shaped body having a space formed inside, and extends in the width direction of the automatic door device 102. The transom 104 defines the upper part of the opening Op through which a person or the like passes. A drive mechanism for driving the sliding door 108 is built in the transom 104. The drive mechanism will be described later.

The pair of vertical frames 106 are arranged at the widthwise ends of the automatic door device 102, respectively, and support both ends in the horizontal direction of the transom 104. The sliding door 108 and the fixing portion 110 are housed in the space formed by the pair of vertical frames 106 and the transom 104.

The two sliding doors 108 are plate-shaped members arranged on the same straight line extending in the width direction of the automatic door device 102. The two sliding doors 108 have a width of about half the width of the blind 104 in the width direction. The two sliding doors 108 extend from the floor to the bottom of the transom 104. The two sliding doors 108 are arranged between the pair of vertical frames 106 and below the transom 104. One end of the sliding door 108 in the width direction is referred to as a door tip 116, and the other end in the width direction is referred to as a door tail 118. The door tip 116 is an end face that is close to each other when the two sliding doors 108 are closed. The door tail 118 is an end face facing the vertical frame 106 side. The two sliding doors 108 move on the same straight line along the width direction of the automatic door device 102. The sliding door 108 can be moved between the closed position where the opening Op is closed and the open position where the opening Op is opened. In the open position, a person or the like can move from one side to the other side of the automatic door device 102 through the opening Op. In the closed position, the sliding door 108 regulates the movement of people and the like. When the sliding door 108 is in the closed position, it can be said that the sliding door 108 is in the fully closed state.

The two fixing portions 110 are formed of a plate-shaped member having the same shape as the sliding door 108. The two fixing portions 110 are fixed to the inner end faces of the vertical frame 106 (inside in the width direction of the automatic door device 102), respectively. The two fixing portions 110 extend from the floor surface to the bottom surface of the transom 104. The two fixing portions 110 are arranged at intervals from each other, and the space between the fixing portions 110 forms an opening Op. The sliding door 108 and the fixing portion 110 are arranged so as to be displaced in the front-rear direction when viewed from above. Therefore, even if the two sliding doors 108 move, they do not interfere with the fixed portion 110. When the sliding door 108 is in the open position, the sliding door 108 and the fixed portion 110 overlap each other in the front-rear direction. Therefore, the space on one main surface side of the fixed portion 110 becomes a space for accommodating the sliding door 108 when the sliding door 108 is moved to the open position. This space is called a door pocket 120.

The first sensor 112 is composed of a photoelectric sensor including a light emitting unit 122 and a light receiving unit 124. A detection range of the first sensor 112 (hereinafter referred to as “first detection range D1”) is formed between the light projecting unit 122 and the light receiving unit 124. The first sensor 112 detects a person or the like within the first detection range D1 in a normal state. The light projecting portion 122 is attached to the inner end face in the width direction of one fixing portion 110, and the light receiving portion 124 is attached to the inner end face in the width direction of the other fixing portion 110. The light projecting unit 122 and the light receiving unit 124 may be housed in the fixed unit 110, and only the respective optical elements may be exposed. The light emitting unit 122 and the light receiving unit 124 are arranged at substantially the same height. The light projecting unit 122 is arranged so as to project light toward the light receiving unit 124. The light receiving unit 124 is arranged so as to receive the light from the light projecting unit 122. As the first sensor 112, a near-ultraviolet irradiation sensor, a Doppler sensor, or the like having a detection range on the floor surface can be used in addition to the photoelectric sensor.

The light projecting unit 122 is composed of a light emitting element that projects light having a predetermined wavelength. The amount of light projected by the light projecting unit 122 changes by adjusting the projection angle of the light emitting element. When the projection angle of the light emitting element is widened, the amount of light projected by the light emitting unit 122 increases, and when the projection angle of the light emitting element is narrowed, the amount of light projected by the light emitting unit 122 decreases. The amount of light projected by the light projecting unit 122 is adjusted according to the width of the opening Op, that is, the distance from the light projecting unit 122 to the light receiving unit 124. Further, the light projecting unit 122 is configured so that the direction of the optical axis can be adjusted by changing the direction of the light emitting element.

The light receiving unit 124 is composed of a light receiving element such as a photodiode. The light receiving angle of the light receiving unit 124 is fixed at an angle narrower than the projection angle of the light projecting unit 122. This is because if the light receiving angle of the light receiving unit 124 is too wide, the light projected from the light projecting unit 122 and passing in front of and behind a person or the like is detected.

When driven, the light projecting unit 122 projects light toward the light receiving unit 124. When no one is between the light emitting unit 122 and the light receiving unit 124, the light from the light emitting unit 122 reaches the light receiving unit 124. In this case, the first sensor 112 sets the detection signal to the non-detection state and outputs it to the control unit 126. When a person or the like is between the light emitting unit 122 and the light receiving unit 124, the light of the light emitting unit 122 does not reach the light receiving unit 124. In this case, the first sensor 112 sets the detection signal in the detection state and outputs it to the control unit 126. The control unit 126 can detect a person or the like between the light emitting unit 122 and the light receiving unit 124 based on the state of the detection signal.

The pair of second sensors 114 detect a person or an object in the vicinity of the opening Op including at least a part of the opening Op. The pair of second sensors 114 are attached to the front and rear surfaces of the transom 104, respectively. The pair of second sensors 114 has a second detection range D2 that extends in the horizontal direction, and detects the presence or absence of a person or the like within the detection range. As the second sensor 114, a near-infrared sensor that projects near-infrared rays and receives the reflected light can be used.

The second detection range D2 refers to a range that combines the detection range that one second sensor 114 has on the front side of the automatic door device 102 and the detection range that the other second sensor 114 has on the rear side of the automatic door device 102. .. When a person or the like is not detected within the second detection range D2, the second sensor 114 sets the detection signal to the non-detection state and outputs the detection signal to the control unit 126. Further, when the second sensor 114 detects a person or the like within the detection range, the second sensor 114 sets the detection signal in the detection state and outputs the detection signal to the control unit 126. The second sensor 114 may be a start-up sensor (described later) built in the transom 104 and used to control the opening of the sliding door 108, or may be an optical sensor provided separately from the start-up sensor. .. Further, the second sensor 114 may be attached to the ceiling on the front side and the rear side of the automatic door device 102. Further detailed description of the first sensor 112 and the second sensor 114 will be described later.

FIG. 3 shows a front view of the automatic door device. More specifically, FIG. 3 shows a state in which the cover of the transom 104 is removed. Further, FIG. 3 shows a state in which the sliding door 108 is in the closed position.

The automatic door device 102 includes a control unit 126, a door engine 128, a timing belt 130, a driven pulley 132, door hangers 134A, 134B, 134C, 134D, a door stopper 136, brackets 138A, 138B, and a guide rail 140. To be equipped with. These members form a drive mechanism of the sliding door 108 and are built in the transom 104.

The door engine 128 generates a driving force for driving the sliding door 108. The door engine 128 includes a drive unit 128A and a drive pulley 128B. The drive unit 128A includes a motor and an encoder. The motor and encoder will be described later. The drive unit 128A is controlled by the control unit 126 and is driven by a drive signal (current) supplied from the control unit 126. The drive pulley 128B is rotationally driven by the drive unit 128A.

A timing belt 130 is bridged between the drive pulley 128B and the driven pulley 132. The timing belt 130 is composed of an endless belt. In FIG. 3, the timing belt 130 is shown by a broken line in order to make it easier to see the relationship between the parts. The timing belt 130 is divided into two stages in the vertical direction and extends between the driven pulley 132 and the drive pulley 128B. When the drive pulley 128B is rotated, each step of the timing belt 130 is driven in the opposite direction in the width direction. The bracket 138A is fixed to the upper stage of the timing belt 130, and the bracket 138B is fixed to the lower stage of the timing belt 130.

The guide rail 140 extends along the width direction of the transom 104 and defines the movement path of the door hangers 134A, 134B, 134C, 134D. The door hangers 134A and 134B are fixed to the upper part of one of the sliding doors 108 and the bracket 138A. The door hangers 134C and 134D are fixed to the upper part of the other sliding door 108 and the bracket 138B. When the drive pulley 128B is driven counterclockwise in the state of FIG. 3, the bracket 138A moves to the driven pulley 132 side, and the bracket 138B moves to the door engine 128 side. Along with this, the bracket 138A and the sliding door 108 fixed to the bracket 138A move to the driven pulley 132 side. Further, the bracket 138B and the sliding door fixed to the bracket 138B move to the door engine 128 side. As a result, the sliding door 108 can be moved to the open position.

The door stopper 136 is arranged on the guide rail 140 adjacent to the vertical frame 106. By providing the door stopper 136, it is possible to prevent the door hanger 134A and the door hanger 134D from colliding with the vertical frame 106.

FIG. 4 shows a top view showing a detection area of the automatic door device. For ease of understanding, parts of the automatic door device other than the first sensor 112 are omitted in FIG. Further, in FIG. 4, the scale is changed to show the positional relationship of each region.

In FIG. 4, reference numeral 144 indicates a light emitting range of the light emitting unit 122, and reference numeral 146 indicates a light receiving range of the light receiving unit 124. The light emitting range 144 of the light emitting unit 122 and the light receiving range 146 of the light receiving unit 124 are both directed to the first detection range D1. The portion where the light projecting range 144 and the light receiving range 146 overlap is the range that can be detected by the first sensor 112. The light emitting unit 122 and the light receiving unit 124 are arranged so that the portion where the light emitting range 144 and the light receiving range 146 overlap overlaps with the first detection range D1, and the projection angle is adjusted. As a result, the first sensor 112 can detect a person or the like within the first detection range D1.

The second detection range D2 is one continuous range in which the detection ranges of the two second sensors 114 are integrated. Therefore, the second detection range D2 expands in the front-rear direction of the opening Op (see FIG. 2) when viewed from above. The second detection range D2 has a width wider than the opening Op extending between the light emitting unit 122 and the light receiving unit 124. As a result, the person or the like can be detected even when the person or the like approaches at a predetermined angle with respect to the front-rear direction. The size and orientation of the second detection range D2 are determined so as to include the first detection range D1. That is, the entire range of the first detection range D1 falls within the second detection range D2.

As can be seen from this, the automatic door device 102 mainly detects a person or the like by using the detection result of the second sensor 114. The first sensor 112 functions as an auxiliary sensor of the second sensor 114, and detects a person or the like in the orbital space of the sliding door 108, which needs to be particularly safe within the second detection range D2.

FIG. 5 shows a block diagram of the automatic door device. In addition to the control unit 126, the door engine 128, the first sensor 112, and the second sensor 114 described above, the automatic door device 102 includes a determination unit 154, an adjustment unit 156, a front activation sensor 158, and a rear activation sensor 160. And.

The control unit 126 acquires the detection result of whether or not the first sensor and the second sensor have detected a person or an object. Therefore, the control unit also functions as a detection result acquisition unit. The control unit 126 controls the door engine 128 based on the detection results of the front side activation sensor 158 and the rear side activation sensor 160 in addition to the detection results of the first sensor 112 and the second sensor 114.

The drive unit 128A of the door engine 128 includes an encoder 128C and a motor 128D. The control unit 126 controls the drive current of the motor 128D based on the detection result of the encoder 128C, and controls the position of the sliding door 108 when opening and closing the sliding door 108. The position control of the sliding door 108 may be based on the control of the moving speed or the acceleration of the sliding door 108.

The determination unit 154 determines whether or not the detection result of the first sensor 112 and the detection result of the second sensor 114 match in the range where the first detection range D1 and the second detection range D2 overlap. When the detection result of the first sensor 112 and the detection result of the second sensor 114 do not match, for example, the light projecting unit 122 or the light receiving unit 124 may be damaged. In addition to this, when the automatic door device 102 is installed or when the surrounding area is cleaned, it comes into contact with the light emitting unit 122 or the light receiving unit 124 of the first sensor 112 to receive light in the light emitting range 144 of the light emitting unit 122 or the light receiving unit 124. Even when the range 146 deviates and the overlapping range disappears, the detection result of the first sensor 112 and the detection result of the second sensor 114 do not match. It is also conceivable that dirt adheres to the surface of the light emitting unit 122 or the light receiving unit 124 and the projection angle becomes narrow. In such a case, the size or position of the light projecting range 144 of the light projecting unit 122 or the light receiving range 146 of the light receiving unit 124 changes, and the light projected from the light projecting unit 122 cannot be detected by the light receiving unit 124. When the light projected from the light projecting unit 122 cannot be received by the light receiving unit 124, the first sensor 112 continues to output the detection signal in the detection state. At this time, if there is no person or the like actually within the second detection range, the detection signal of the second sensor 114 remains in the non-detection state. In this case, the determination unit 154 determines that the detection result of the first sensor 112 and the detection result of the second sensor 114 do not match. The determination unit 154 determines that the detection results do not match when the detection result of the first sensor 112 and the detection result of the second sensor 114 deviate from each other for a predetermined time such as 30 seconds or 60 seconds. You may judge. That is, the determination unit 154 determines that the first sensor 112 is in the detection state and the second sensor 114 is in the non-detection state, so that some abnormality has occurred in the first sensor 112. I understand.

When the determination unit 154 determines that the detection result of the first sensor 112 and the detection result of the second sensor 114 do not match, the adjustment unit 156 adjusts the projection angle of the light projecting unit 122. The adjusting unit 156 changes the projection angle of the light projecting unit 122. In this case, the adjusting unit 156 maximizes the projection angle and gradually decreases it from the maximum value. Further, when the angle of the optical axis of the light projecting unit 122 is variable, the adjusting unit 156 changes the angle of the optical axis of the light projecting unit 122. As a result, the light projection range 144 of the light projection unit 122 changes. The adjusting unit 156 repeats the adjustment of changing the projection angle of the light projecting unit 122 or at least one of the optical axes.

The front side activation sensor 158 is built in the front side of the transom light 104 (see FIG. 1), and detects that a person or the like is approaching from the front side of the automatic door device 102. The rear activation sensor 160 is built in the rear side of the transom 104 and detects that a person or the like is approaching from the rear side of the automatic door device 102. The detection results of the front start sensor 158 and the rear start sensor 160 are supplied to the control unit 126. The control unit 126 uses the detection results of the front start sensor 158 and the rear start sensor 160 to drive the door engine 128 when a person or the like approaches from the front side or the rear side to open the sliding door 108. The front activation sensor 158 and the rear activation sensor 160 may be sensors having a plurality of detection spots. In this case, the front start sensor 158 and the rear start sensor 160 analyze the movement of a person or the like from the detection result of the detection spot, and only when it is determined that the person or the like is approaching the automatic door device 102, the door engine 128 To drive.

The control unit 126, the determination unit 154, and the adjustment unit 156 are configured in various hardware such as a CPU and a memory, and control each unit by executing a control program stored in the memory. In FIG. 5, the control unit 126, the determination unit 154, and the adjustment unit 156 are described as separate blocks, but the control unit 126 may have the functions of the determination unit 154 and the adjustment unit 156.

Next, the operation of the automatic door device 102 will be described. First, the basic operation of the automatic door device 102 will be described.

With reference to FIGS. 1 and 5, when a person or the like approaches the automatic door device 102 from the front side and enters the detection range of the front side activation sensor 158 with the sliding door 108 in the closed position, the control unit 126 sets the door engine 128. It is driven to move the sliding door 108 to the open position. This allows people and the like to pass through the opening Op. The control unit 126 monitors the detection results of the first sensor 112 and the second sensor 114, and causes the sliding door 108 to stand by in the open position until a person or the like exits the first detection range D1 and the second detection range D2. The control unit 126 determines that a person or the like has exited the first detection range D1 and the second detection range D2 when the first sensor 112 is in the detection state and the second sensor is in the non-detection state. After that, the control unit 126 drives the door engine 128 to move the sliding door 108 to the closed position.

Next, for example, a case where the light emitting range 144 of the light emitting unit 122 of the first sensor 112 is displaced and the light receiving unit 124 cannot receive the light from the light emitting unit 122 will be described.

FIG. 6 shows a flow chart showing a series of processes of the automatic door device. While the automatic door device 102 is activated, the process of FIG. 6 is repeatedly executed.

When a series of processes is started, in step S1, the control unit 126 determines whether or not the sliding door 108 is waiting in the open position. When the sliding door 108 is in the open position (Y in step S1), in step S2, the control unit 126 determines whether or not the automatic door device 102 has the second sensor 114. The process of step S2 may be performed only when the automatic door device 102 is driven for the first time after the automatic door device 102 is installed.

When the sliding door 108 is not in the open position (N in step S1) and when the automatic door device 102 does not have the second sensor 114 (N in step S2), the control unit 126 ends a series of processes.

When the automatic door device 102 has the second sensor 114 (Y in step S2), the determination unit 154 determines in step S3 whether or not the detection signal of the first sensor 112 is in the detection state. When the detection signal of the first sensor 112 is in the detection state (Y in step S3), in step S4, the determination unit 154 determines whether or not the detection signal of the second sensor 114 is in the detection state. In steps S3 and S4, it can be said that the determination unit 154 determines whether the detection result of the first detection range D1 and the detection result of the second detection range D2 match.

When the detection signal of the second sensor 114 is not in the detection state (N in step S4), the control unit 126 increments the timer (not shown) in step S5. Next, in step S6, the control unit 126 determines whether or not the value of the timer has passed 30 seconds. When the measured value of the timer has passed 30 seconds (Y in step S6), it means that the first sensor 112 is in the detection state and the second sensor 114 is in the non-detection state for a certain period of time. .. In this case, the adjusting unit 156 adjusts the first sensor 112 in step S7 assuming that the light emitting range 144 or the light receiving range 146 of the first sensor 112 is deviated.

After that, in step S8, the control unit 126 sets a low speed flag that sets the speed at which the sliding door 108 is moved to a low speed.

When the detection signal of the first sensor 112 is in the non-detection state (N in step S3) and when the detection signal of the second sensor 114 is in the non-detection state (Y in step S4), it is outside the first detection range D1. However, there is a possibility that there is a person or the like within the second detection range D2. Therefore, there is a possibility that the detection result of the first sensor 112 and the detection result of the second sensor 114 are correct. Therefore, in this case, in step S9, the control unit 126 resets the measured value of the timer and repeats the processes after step S1. Further, when the measured value of the timer does not elapse 30 seconds (N in step S6), there is a possibility that an abnormality has occurred in the first sensor 112, but the accuracy is low, so the processing after step S1 is repeated. Run. If the same state is maintained even after the measured value of the timer has passed 30 seconds, the determination unit 154 determines that an abnormality has occurred in the first sensor 112.

In this way, in the automatic door device 102, if the state in which the detection result of the first sensor 112 and the detection result of the second sensor 114 do not match continues for 30 seconds or more, does the first sensor 112 have an abnormality? Whether or not it can be determined with high accuracy. The accuracy of the determination is improved by lengthening the threshold value of the measured value of the timer.

Further, the light emitting range 144 or the light receiving range 146 of the first sensor 112 can be adjusted based on the determination result.

Next, the operation of the automatic door device 102 when the sliding door 108 is moved from the open position to the closed position will be described. FIG. 7 shows a flow chart showing a series of operations of the automatic door device. While the automatic door device 102 is activated, the process of FIG. 6 is repeatedly executed. Further, while the automatic door device 102 is executing the series of processes shown in FIG. 7, the collision sensor (not shown) detects the presence or absence of a collision with a person or the like before the sliding door 108 arrives at the closed position, and the collision occurs. If detected, the door engine 128 is immediately stopped or reversed.

When a series of processes is started, in step S11, the automatic door device 102 determines whether or not the opening condition for holding the sliding door 108 at the open position is satisfied. The open condition means a case where it is determined by at least one of the first sensor 112 and the second sensor 114 that a person or the like is in the first detection range D1 or the second detection range D2. The control unit 126 determines the position of the sliding door 108 based on the position indicated by the encoder 128C, and further, a person or the like determines the first detection range D1 and the second detection range based on the detection results of the first sensor 112 and the second sensor 114. Determine if you are in D2. When the opening condition of the sliding door 108 is not achieved (N in step S11), it is determined in step S12 whether or not the measured value of the timer has elapsed the predetermined time. By the process of step S12, it is possible to prevent the sliding door 108 from closing immediately after a person or the like exits the first detection range D1 and the second detection range D2. When the measured value of the timer has elapsed the predetermined time (Y in step S12), the control unit 126 determines in step S13 whether or not the low speed flag is set. When the low speed flag is set (N in step S13), in step S14, the control unit 126 controls the door engine 128 to move the sliding door 108 from the open position to the closed position at a normal speed. When the low speed flag is set (Y in step S13), in step S15, the control unit 126 controls the door engine 128 to move the sliding door 108 from the open position to the closed position at a lower speed than usual. After that, the processes after step S11 are repeated.

Further, when the opening condition of the sliding door 108 is achieved in step S11 (Y in step S11) and when the measured value of the timer does not elapse the predetermined time (N in step S12), the control unit 126 performs a series of processes. repeat.

In this way, the automatic door device 102 closes the sliding door 108 at a low speed immediately after adjusting the optical axis and the like of the first sensor 112. As a result, even if the sliding door 108 is closed even though the first sensor 112 and the second sensor 114 cannot detect a person or the like for some reason, the speed at which the sliding door 108 comes into contact with the person or the like is suppressed. You can improve safety.

Next, the process of canceling the low-speed flag will be described. FIG. 8 shows a flow chart showing a series of operations of the automatic door device. The automatic door device 102 executes the flow of FIG. 8 after the sliding door 108 is closed according to the flow shown in FIG.

In step S21, the control unit 126 determines whether the sliding door 108 has arrived at the closed position. In this case, the control unit 126 determines the position of the sliding door 108 based on the position indicated by the encoder 128C. The process of step S21 is executed until the sliding door 108 reaches the closed position. Next, in step S22, the control unit 126 releases the low-speed flag and ends a series of processes.

In this way, the automatic door device 102 releases the low speed flag and ends the low speed operation.

The automatic door system 100 according to the first embodiment includes an automatic door device 102 including a control unit 126 that controls opening and closing of the sliding door 108, a first sensor 112 that detects a person or an object passing through the opening Op of the automatic door device 102, and the like. The first sensor 112 and the second sensor 112 have overlapping detection ranges of the second sensor 114 that detects a person or an object in the vicinity of the opening Op including at least a part of the opening Op, and the detection ranges of the first sensor 112 and the second sensor 114, respectively. A determination unit 154 for determining whether or not the detection results of the sensor 114 match is provided.

With such a configuration, by determining the state in which the detection signal of the first sensor 112 is in the detection state and the detection signal of the second sensor 114 is in the non-detection state, some abnormality is caused in the first sensor 112. It can be determined that it has occurred.

Next, the second embodiment will be described.

FIG. 9 shows a front view of the automatic door device according to the second embodiment. Since the automatic door device according to the second embodiment has the same configuration as the automatic door device according to the first embodiment, the parts having the same configuration are detailed by using the same reference numerals as those of the first embodiment. The explanation is omitted.

In the automatic door device 200 according to the second embodiment, the first detection range D1 and the second detection range D2 are set in the door pocket 120. The door pocket 120 is a space formed between the door tail 118 of the sliding door 108 and the vertical frame 106 when the sliding door 108 is in the closed position, and is also a space in which the sliding door 108 stands by in the open position. In the illustrated example, since the automatic door device 200 has two sliding doors 108, a first detection range D1 and a second detection range D2 are set in each door pocket 120. The second sensor 204 is arranged above the door pocket 120, and the first sensor 202 is arranged inside the door pocket 120.

The first sensor 202 of the automatic door device 200 detects a person or the like within the first detection range D1 extending horizontally between the door tail 118 of the sliding door 108 and the vertical frame 106. The light emitting portion 206 of the first sensor 202 is attached to the end surface of the sliding door 108 on the door tail 118 side, and the light receiving portion 208 is attached to the inner end surface of the vertical frame 106 in the width direction.

Also in the automatic door device 200, when the detection signal of the first sensor 202 is in the detection state and the detection signal of the second sensor 204 is in the non-detection state, the determination unit 154 (see FIG. 5) determines. It can be determined that some abnormality has occurred in the first sensor 202. When the automatic door device 200 determines that some abnormality has occurred in the first sensor 202, the light emitting unit 206 or the light receiving unit 208 of the first sensor 202 is used before moving the sliding door 108 from the closed position to the open position. To adjust. After that, the automatic door device 200 moves the sliding door 108 from the closed position to the open position at a low speed.

According to such an automatic door device 200, a person or the like in the door pocket 120 can be detected, and an abnormality of the first sensor 202 can be determined.

As a matter of course, the first sensor 202 and the second sensor 204 described in the second embodiment may be applied to the automatic door device 102 according to the first embodiment.

The present invention is not limited to the above-described embodiment, and the configuration of the embodiment can be appropriately changed without departing from the spirit of the invention.

The following modifications are assumed within the scope of the present invention.

As the first sensor 112, 202 and the second sensor 114, 204, a sensor having a plurality of detection spots may be used. For example, when a near-ultraviolet irradiation sensor having a plurality of detection spots is used as the first sensors 112 and 202, if a part of the plurality of detection spots of the first sensor 112 is included in the second detection range D2. good. As a result, the abnormality of the first sensor 112 can be detected in the overlapping range of the second detection range D2 and the first detection range D1 included therein.

In the above-described embodiment, the determination unit 154 determines whether or not the detection results of the first sensor 112 and the second sensor 114 match within the range where the first detection range D1 and the second detection range D2 overlap. bottom. However, according to the present invention, the first detection range D1 and the second detection range D2 do not have to overlap.

In this case, considering the size and shape of a person or the like, if a person or the like enters the first detection range D1, the first detection range D1 and the second detection range D1 and the second are located at positions that will almost certainly also enter the second detection range D2. The detection range D2 may be set. Therefore, the first detection range D1 does not necessarily have to overlap with the second detection range D2 as in the embodiment, and the first detection range D1 does not have to be included in the second detection range D2.

Such a modification can be generalized as the following object detection system.

A first sensor that detects a person or an object in a plurality of preset first detection ranges,
A second sensor that detects a person or an object in the second detection range that includes at least a part of the first detection range among the plurality of first detection ranges.
A determination unit that determines whether or not the detection results of the first sensor and the second sensor match in the detection range where the first detection range and the second detection range overlap.
An object detection system equipped with.

When the determination unit 154 determines that the detection results of the first sensor 112 and the second sensor 114 do not match, the control unit 126 may include means for notifying the administrator to that effect. As a result, the administrator can be called in and the administrator can be urged to adjust the light emitting range 144 or the light receiving range 146 of the first sensor 112.

In the embodiment, an automatic door system in which an object detection system is applied to an automatic door device through which a person or the like passes is given as an example, but the object detection system can also be applied to other systems. One example is an automated warehouse door control system. Therefore, the above-described embodiment can be generalized as an object detection system including an automatic door system and an automated warehouse control system.

100 Automatic door system, 102 Automatic door device, 108 Sliding door, 112 1st sensor, 114 2nd sensor, 118 Door tail, 122 Floodlight, 124 Light receiving, 126 Control, 144 Flood range, 154 Judgment, 156 Adjustment unit, 200 automatic door device, 202 1st sensor, 204 2nd sensor, 206 floodlight unit, 208 light receiving unit, D1 1st detection range, D2 2nd detection range

Claims (14)

A control unit that controls the opening and closing of the sliding door of the automatic door device,
A first sensor that detects a person or an object passing through the opening of the automatic door device,
A second sensor that detects a person or object near the opening,
An automatic door system including a determination unit for determining whether or not the detection results of the first sensor and the second sensor match in the detection ranges of the first sensor and the second sensor. A control unit that controls the opening and closing of the sliding door of the automatic door device,
The first sensor that detects a person or an object that invades the space on the door end side of the sliding door,
A second sensor that detects a person or object near the space,
A determination unit that determines whether or not the detection results of the first sensor and the second sensor match in the detection ranges of the first sensor and the second sensor, respectively.
Automatic door system with. The automatic door system according to claim 1 or 2, further comprising an adjusting unit that adjusts the detection range of the first sensor when the determination results of the determination unit do not match. The adjusting unit adjusts the detection range of the first sensor when the determination unit determines that the state in which the first sensor is in the detection state and the state in which the second sensor is in the non-detection state continues for a predetermined time or longer. The automatic door system according to claim 3. The first sensor includes a light projecting unit that projects detection light into a predetermined range and a light receiving unit that is provided on the opposite side of the light projecting unit so as to receive the detection light.
According to claim 4, the adjusting unit changes the light projecting range of the light projecting unit, and sets the light projecting range when the detected light can be received by the light receiving unit to the light projecting range of the light projecting unit. Described automatic door system. 5. The adjusting unit gradually reduces the amount of light projected by the light projecting unit from the maximum range, and sets the light projecting range when the light receiving unit can receive the light to the light projecting range of the light projecting unit. The automatic door system described in. The automatic door system according to any one of claims 3 to 6, wherein the control unit reduces the speed of closing the sliding door when the adjusting unit finishes adjusting the detection range of the first sensor. .. The automatic door system according to claim 7, wherein the control unit ends control of the sliding door at the reduced acceleration when the sliding door is fully closed. A first sensor that detects a person or object in a preset first detection range,
A second sensor that detects a person or an object in the second detection range that includes at least a part of the first detection range.
A determination unit that determines whether or not the detection results of the first sensor and the second sensor match in each of the first detection range and the second detection range.
An object detection system equipped with. The object detection system according to claim 9, further comprising an adjustment unit that adjusts the first detection range when the determination results of the determination unit do not match. The object detection system according to claim 10, wherein the adjusting unit adjusts the first detection range when the determination results of the determination unit do not match for a predetermined time or longer. With automatic door device
It is composed of a light projecting unit that projects detection light into a predetermined range and a light receiving unit that is provided on the opposite side of the light projecting unit so as to receive the detection light, and opens the opening of the automatic door device. The first sensor that detects a passing person or object,
A second sensor provided on the upper part of the automatic door device, which receives reflection of the detection light projected in the vicinity of the opening and detects a person or an object in the vicinity of the opening.
A detection result acquisition unit that acquires whether or not the first sensor and the second sensor have detected a person or an object, and
It is provided with an adjustment unit that adjusts the detection range of the first sensor.
When the detection result acquired by the detection result acquisition unit is in the non-detection state even though the first sensor is in the detection state, the adjusting unit throws the first sensor. An automatic door system in which the amount of light projected by the light unit is gradually reduced from the maximum range, and the light projection range when the light can be received by the light receiving unit is set to the light projection range of the light emitting unit. In the detection range of each of the first sensor that detects a person or an object within the first detection range and the second sensor that detects a person or an object within the second detection range that includes at least a part of the first detection range. It is determined whether or not the detection results of the 1 sensor and the 2nd sensor match, and
An object detection range adjusting method for adjusting the detection range of the first sensor when the determination results do not match. The first sensor and the first sensor in the detection range of the first sensor for detecting a person or an object passing through the opening of the automatic door device and the second sensor for detecting a person or an object in the vicinity of the opening including at least a part of the opening. 2 Determine whether the detection results of the sensors match, and
An automatic door system detection range adjusting method for adjusting the detection range of the first sensor when the determination results do not match.

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