JP2748565B2 - Automatic door opening and closing fuzzy control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Industrial application field The present invention relates to a method of opening a door based on detecting a pedestrian entering the door, such as a door at a hotel entrance. The present invention relates to a fuzzy control device for automatically opening and closing an automatic door.

(B) Conventional technology Conventional open / close control of an automatic door is performed by providing a pedestrian detecting means by weight or shading at a front part of the opening of the open / close door, and detecting the pedestrian by this detecting means. It was opened at a constant speed and opening.

(C) Problems to be Solved by the Invention However, in such a case, if the building is completely air-conditioned, opening the door more than necessary impairs the effect of air-conditioning and causes inconvenience.

Accordingly, it is an object of the present invention to provide an automatic door opening / closing fuzzy control device capable of suppressing useless opening of a door as much as possible and maintaining the effect of cooling and heating.

(D) Means for Solving the Problems The present invention relates to an opening / closing door, door driving means for opening / closing the opening / closing door so that the opening speed and the opening amount can be changed, and a traffic entering the installation position of the opening / closing door. Detecting means for detecting the intruding speed and traffic width of a pedestrian, and fuzzy logic in which the intruding speed and traffic width of the pedestrian are used as a condition part, and the opening speed and opening amount of the opening / closing door set corresponding thereto are concluded. Fuzzy inference control means for setting a rule and fuzzy inference control means for fuzzy inference control of the door drive means based on the fuzzy rule based on the intruding speed and traffic width of the pedestrian detected by the detection means It is characterized by being.

(E) Function In the automatic door opening / closing fuzzy control device of the present invention, when a pedestrian approaches the opening / closing door, the detecting means detects the intruding speed and the width of the pedestrian, and the fuzzy inference controlling means. Extracts the most appropriate opening speed and opening amount of the opening / closing door from the conclusion of the fuzzy rule using the above detection data as a condition part, and performs fuzzy inference control of the door driving means with this operation amount.

(F) Effects of the Invention As described above, according to the present invention, the opening speed and opening amount of the opening / closing door are not uniform, and the speed and size of a passerby, for example, a passer with a load and no load By opening the doors to the most appropriate state in response to passers, etc., unnecessary opening of the doors can be suppressed as much as possible.For example, if a building is fully equipped with air conditioning, The opening does not impair the cooling and heating effect.

(G) Embodiment of the Invention One embodiment of the present invention will be described below in detail with reference to the drawings.

The drawing shows a fuzzy control device for opening and closing an automatic door.
In FIG. 2 and FIG. 2, the left and right doors 10, 10 are controlled to be opened and closed by door driving devices 11, 11, each of which is a forward / reverse motor, and these door driving devices 11, 11 are simultaneously controlled to open and close simultaneously.

The entry of a passerby into the doors 10 and 10 described above is set in one direction, and an imaging device 12 is provided at an upper portion on the entry side.
Numeral 12 captures the image of the pedestrian in the area A, and detects the intruding speed V, the width W, and the distance L to the door of the pedestrian.

Of course, it is possible to detect the left and right displacement of the passerby with respect to the center of the doors 10, 10, but this is not used in this embodiment.

FIG. 3 shows a fuzzy inference control circuit. A fuzzy controller 13 is a door driving device based on a fuzzy rule based on data of an intruding speed V of a pedestrian from the imaging device 12, a traffic width W, and a distance L to the doors 10, 10. 11 performs fuzzy inference control.

FIG. 4 shows the membership function of the width W of the pedestrian output from the above-described imaging device 12, and FIG. 5 shows the membership function of the speed V of the pedestrian at the specified fixed position. I have.

In the membership function of the width W of the passerby in FIG.
Each label indicates PS: Narrow PM: Normal PL: Wide.

In the membership function of the speed V of the pedestrian in FIG. 5, each label indicates PS: slow PM: normal PL: fast.

FIG. 6 shows the membership function of the opening amount Y1 of the doors 10, 10, and FIG. 7 shows the membership function of the door opening speed Y2.

In the membership function of the door opening amount Y1 in FIG. 6, each label indicates PS: narrow PM: normal PL: wide.

In the membership function of the door opening speed Y2 in FIG. 7, each label indicates PS: slow PM: normal PL: fast.

The fuzzy rules are set as shown in Table 14 of FIG.

The fuzzy inference control operation of the automatic door opening / closing fuzzy control device thus configured will be described.

For example, a pedestrian enters the doors 10 and 10 and the imaging device 12
Assuming that has measured the width X1 and the speed X2 of the pedestrian, the fuzzy inference control of the doors 10, 10 based on the width X1 and the speed X2 is as follows.

That is, as shown in FIGS. 4 and 5, the labels and grades including the width X1 and the speed X2 are PS (0.7) PM (0.6) PS (0.7) PL (0.4) PM (0.3) PM (0.6) PM (0.3) PL (0.4) and these are the condition parts of the fuzzy rule,
From the fuzzy rules (see FIG. 3), the labels of the conclusion part corresponding to the width X1 and the speed X2 are as follows.

PS (0.6) PM (0.6) PS (0.4) PL (0.4) PM (0.3) PM (0.3) PM (0.3) PL (0.3) Each grade has a minimum condition part.

FIG. 8 shows the sum of the fuzzy sets obtained as a result of the above four fuzzy rules to obtain a maximum, and the operation amounts Z1, Z2
Where the area of each of the max of the door opening amount Y1 and the max of the door opening speed Y2 is divided into two,
That is, the center of gravity is determined as the operation amounts Z1 and Z2, and this is set as the most appropriate operation amount.

That is, the width of the doors 10, 10 is Z1, the opening speed of the door is Z2, the width Z1 is slightly narrower than usual, and the opening speed Z2 is determined to be the operation amount slightly faster than usual. Thus, the drive of the door driving device 11 is controlled so that these operation amounts Z1 and Z2 are obtained.

By executing such fuzzy inference control on the doors 10, 10, the state of a passerby passing through the doors, for example, in the case of one person, even one child, adult, person with luggage, shoulders The doors 10, 10 can be opened and closed according to the condition as if two people or the speed of these people were fast or slow. For example, if a door is in a building equipped with air conditioning, useless doors By opening the air conditioner, the effect of cooling and heating is not lost.

Note that, in the above-described embodiment, an example in which the door driving devices 11 and 11 of the left and right doors 10 and 10 are driven to open and close in the same manner is shown, but the imaging device 12 detects the displacement amount of the pedestrian's left and right, The left and right doors 10, 10 may be configured to be opened and closed in accordance with the displacement amount.

In the correspondence between the configuration of the present invention and the above-described embodiment, the opening / closing door of the present invention corresponds to the door 10 of the embodiment. Hereinafter, similarly, the door driving means corresponds to the door driving device 11, and the detecting means corresponds to The fuzzy inference control means corresponds to the fuzzy controller 13, but the present invention is not limited to only the configuration of the embodiment. For example, the detection unit can be configured by other various sensors instead of the imaging device 12.

[Brief description of the drawings]

 1 shows an embodiment of the present invention, FIG. 1 is a plan view of a door, FIG. 2 is a side view of a door, FIG. 3 is a block diagram of an automatic door opening / closing fuzzy control, and FIG. 5 is a membership function diagram of the speed of the pedestrian, FIG. 6 is a membership function diagram of the opening amount of the door, FIG. 7 is a membership function diagram of the opening speed of the door, FIG. 8 is an explanatory diagram of fuzzy inference control for opening the door. 10 door, 11 door drive device 12 imaging device, 13 fuzzy controller

Claims (1)

(57) [Claims] An opening / closing door, a door driving means for opening / closing the opening / closing door so that the opening speed and the opening amount can be changed, and detecting an entry speed and a passage width of a pedestrian entering an installation position of the opening / closing door. Detecting means, and a fuzzy rule that sets the opening speed and opening amount of the opening / closing door corresponding to this as a condition part with the intruding speed and the traffic width of the pedestrian, and sets the fuzzy rule with the detecting means An automatic door opening / closing fuzzy control device, comprising: fuzzy inference control means for performing fuzzy inference control of a door drive means based on the detected intrusion speed of a pedestrian and a traffic width based on the fuzzy rule.