JP4759166B2 - Automatic door open / close control method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic door opening / closing control method using a reflective optical sensor, and more specifically, it is possible to reliably detect an object on and near a door movement path without using a light beam type auxiliary sensor. The present invention relates to an automatic door open / close control method.
[0002]
[Prior art]
In many cases, an optical sensor for an automatic door uses a reflection type optical sensor having a light emitting unit that emits light (infrared rays) toward a floor near the door and a light receiving unit that receives the reflected light. Thus, a detected object such as a person is detected by a change in the light reception level (light reception amount) at the light receiving unit. The light reception level changes not only for humans and animals but also for moving objects. For example, the light reception level also changes depending on the movement of the automatic door itself.
[0003]
Therefore, as shown in FIG. 9, for example, assuming that the door 1 is a sliding door type, optical sensors 2 and 2 are disposed on the indoor side and the outdoor side, respectively, in order not to pick up the movement, A predetermined number of auxiliary sensors 3 for irradiating a light beam as a safety beam in the horizontal direction are provided between these monitoring areas, for example, in a vertical portion.
[0004]
[Problems to be solved by the invention]
As described above, the conventional control device requires the auxiliary sensor 3 in addition to the optical sensor 2, so that the cost is increased as a whole, and a reduction in cost has been desired. In addition, the auxiliary sensor 3 cannot be physically installed on the doorway, but is located on the side of the doorway (or the outside of the room) away from the doorway. It is also dangerous.
[0005]
Further, in the conventional optical sensor 2, from the viewpoint of cost, a split lens is used to obtain more spot light with a smaller number of light emitting elements, and an example of a monitoring state by the spot light is illustrated. 10 shows. In this example, eight spot lights SP are irradiated on the floor surface from one light-emission unit of the optical sensor 2 by a split lens, and the reflected light is received by the light-receiving unit.
[0006]
Here, if the installation height H of the optical sensor 2 is 2000 mm from the floor and the monitoring width W on the floor is also 2000 mm, the pitch between the spot lights SP is equal, and the spot light interval P is about 286 mm. Further, if the installation height H of the optical sensor 2 is 3000 mm, the spot light interval P is 286 × (3000/2000) = 429 mm.
[0007]
This interval P is a dead zone width through which small animals such as small children and dogs and cats can pass. Therefore, when the door 1 is about to close, there is a risk that small children such as small children and dogs and cats may get caught near the door 1 as they are.
[0008]
The present invention has been made to solve such problems, and an object of the present invention is to provide an automatic door opening / closing control method capable of more closely monitoring the vicinity of the doorway without using an auxiliary sensor. There is.
[0009]
[Means for Solving the Problems]
In order to achieve the above-mentioned object, the present invention provides a first arrangement disposed on both sides of the door with the floor surface in the vicinity of the door of the passage partitioned by the sliding door that is opened and closed by the driving means as a monitoring area. In an automatic door opening / closing control method comprising: the first and second light sensors; and a control means for controlling the driving means based on an object detection signal of each of the light sensors to open and close the door. Each optical sensor has a light emitting unit having a plurality of light emitting elements that irradiate irradiation light toward the monitoring area as a plurality of spot lights with a predetermined arrangement, and the same number of light receiving elements as the light emitting elements, and the monitoring area A plurality of monitoring units each including a predetermined number of spot lights arranged in parallel with the moving direction of the doors in one row. Up row Each of the spot lights in the closest monitoring row of the two doors having the monitoring row group arranged in parallel at a predetermined interval in the direction away from the door, and at least closest to the door of each of the monitoring row groups, The two door closest monitoring rows are arranged so as to overlap each other with their spot light irradiation positions relatively shifted so that they are alternately arranged as viewed from the extending direction of the passage. It is characterized by being.
[0010]
As described in the above conventional apparatus, for example, when the spot light interval is 286 mm, according to the present invention, the spot light in the door closest monitoring row on one passage side and the door close monitoring row on the other passage side are provided. Spot light is alternately arranged, so the spot light interval seen from the direction of passage of the passage is half 143 mm, and even small animals such as small children and dogs and cats can be detected without using an auxiliary sensor. be able to.
[0011]
According to a more preferred embodiment of the present invention, the two doors recent monitoring string is superimposed on the movement path of the door.
[0012]
Note that when the two door closest monitoring rows are stacked at the same position, the door is also picked up and the door cannot be closed. However, when the door is closed, the light reception that takes charge of the door closest monitoring row is performed. The problem is solved by closing the door as it is only when the time series of the object detection signal output from the element is along the direction in which the door is closed.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Next, several embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic perspective view of an automatic door device to which the control method of the present invention is applied. FIGS. 2 and 3 are schematic views showing an internal structure of an optical sensor used in the automatic door device. Thus, a basic configuration common to the embodiments will be described.
[0014]
In this embodiment, the automatic door device is a double-open type having a pair of left and right sliding doors 1, and the first photosensor 4 and the second photosensor 5 attached to both sides of the center of the invisible 1A, and these Control means (CPU) 6 for controlling door drive means (not shown) based on object detection signals output from the optical sensors 4 and 5 is provided.
[0015]
In this embodiment, the door 1 is a front door, and the first optical sensor 4 is installed on the indoor side of the seamless 1A, and the floor surface FI near the door is monitored by, for example, five monitoring rows LA1 to LA5. The second optical sensor 5 is installed on the outdoor side of the seamless 1A, and monitors the floor surface FO near the door by the five monitoring rows LB1 to LB5.
[0016]
The monitoring rows LA1 to LA5; LB1 to LB5 are parallel to the moving direction of the door 1 and are arranged at predetermined intervals in a direction away from the door 1. In this embodiment, each of the monitoring rows LA1 to LA5; LB1 to LB5 includes eight spot lights SP1 to SP8 arranged in one row at equal intervals.
[0017]
In addition, when the door 1 is installed in a building, the 1st optical sensor 4 will be provided in one channel | path side of the channel | path divided by the door 1, and the 2nd optical sensor 5 will be provided in the other channel | path side. The door 1 may be a single opening type.
[0018]
Each of the first optical sensor 4 and the second optical sensor 5 includes a light emitting unit 10 and a light receiving unit 20 that have substantially the same element arrangement and are arranged symmetrically as a pair of left and right. 2A is a front view schematically showing the configuration on the light emitting unit 10 side, FIG. 2B is a side view thereof, and FIG. 3A is also schematically showing the configuration on the light receiving unit 20 side. FIG. 3B is a side view thereof.
[0019]
In the present invention, the lens system of the light emitting unit 10 is not a split lens but a monocular lens 11, and a light emitting element group 12 having a plurality of light emitting elements made of light emitting diodes is provided for the monocular lens 11.
[0020]
In this embodiment, as shown in the side view of FIG. 2 (b), the light emitting element group 12 has a 5-row configuration of L1 to L5, and each row is shown in the front view of FIG. 2 (a). Each includes eight light emitting elements 120 (121 to 128). In other words, 40 light emitting elements 120 are arranged in a matrix for one monocular lens 11.
[0021]
The light emitted from each light emitting element 120 passes through the center of the monocular lens 11 and is irradiated in a spot shape on the floor surfaces FI and FO as shown in FIG. The column numbers L1 to L5 of the light emitting element group 12 correspond to the monitoring columns LA1 to LA5; LB1 to LB5 set on the floor surfaces FI and FO, and the spot lights SP1 to SP8 included in the respective monitoring columns are , Corresponding to eight light emitting elements 121-128.
[0022]
That is, in each of the monitoring rows LA1 to LA5; LB1 to LB5, for example, the spot light SP1 is from the light emitting element 121, and the spot light SP2 is from the light emitting element 122. Hereinafter, similarly, spot light SP3 and light emitting element 123, spot light SP4 and light emitting element 124, spot light SP5 and light emitting element 125, spot light SP6 and light emitting element 126, spot light SP7 and light emitting element 127, spot light SP8 and light emitting element 128 corresponds to each.
[0023]
Similarly to the light emitting unit 10, the light receiving unit 20 includes a monocular lens 21 as its lens system, and a light receiving element group 22 having a plurality of light receiving elements made of, for example, photodiodes is provided for the monocular lens 21. Are provided with the same arrangement.
[0024]
That is, as shown in the side view of FIG. 3B, the light receiving element group 22 also has a five-row configuration of L1 to L5, and each row includes eight light-emitting elements as shown in FIG. 220 (221 to 228) are included. That is, 40 light receiving elements 220 are arranged in a matrix for one monocular lens 21, and detection signals from the respective light receiving elements 220 are given to the CPU 6 which is an automatic door control means.
[0025]
The light emitting unit 10 and the light receiving unit 20 are arranged symmetrically. Therefore, for example, the light receiving element 221 receives reflected light of the spot light SP1 emitted from the light emitting element 121, and the light receiving element 222 emits light from the light emitting element 122. The reflected light of the spot light SP2 is received.
[0026]
Similarly, the light receiving element 223 is the light emitting element 123, the light receiving element 224 is the light emitting element 124, the light receiving element 225 is the light emitting element 125, the light receiving element 226 is the light emitting element 126, the light receiving element 227 is the light emitting element 127, and The light receiving element 228 corresponds to the light emitting element 128 in a one-to-one relationship, and enables object detection in a spot light unit that is finer than the monitoring column unit.
[0027]
Continuing the description based on the above configuration, the present invention relates to a monitoring row (closest to the door) arranged closest to the door 1 among the indoor monitoring rows LA1 to LA5 and the outdoor monitoring rows LB1 to LB5. The monitoring row is characterized by the arrangement of LA1 and LB1.
[0028]
First, the first embodiment of the present invention will be described with reference to FIG. 1 described above, FIG. 4 which is a schematic side view thereof, and FIG. 5 which is a plan view thereof. According to this, the indoor side door nearest monitoring row LA1 and the outdoor side door nearest monitoring row LB1 are overlapped with each other on the doorway of the door 1.
[0029]
This superposed monitoring column is referred to as a common monitoring column C. In this specification, the doorway means a movement path of the door 1, and is a concept including both a case where a rail is actually laid and a case where the door is suspended and does not require a rail.
[0030]
Each of the most recent monitoring rows LA1 and LB1 includes eight spot lights SP1 to SP8. For convenience of explanation, here, each indoor spot light is indicated by a circle, and each outdoor spot light is indicated by Δ. This is indicated by a mark.
[0031]
The common monitoring column C includes a total of 16 spot lights including eight spot lights SP1 to SP8 on the first photosensor 4 side and eight spot lights SP1 to SP8 on the second photosensor 5 side. However, the spot light “◯” on the first light sensor 4 side and the spot light “Δ” on the second light sensor 5 side are relatively shifted by the distance DL, and the spot light “◯” and the spot light are “Δ” is alternately arranged.
[0032]
The preferable shift amount is 1/2 pitch, and according to this, the object detection interval (dead zone width) in the common monitoring column C is half of the object detection interval in the other monitoring columns LA2 to LA5; The object detection accuracy on the movement path of the child can be improved, and small animals such as small children and dogs and cats can be reliably detected.
[0033]
In order to alternately arrange the spot light “◯” on the first photosensor 4 side and the spot light “Δ” on the second photosensor 5 side as described above, for example, the most recent monitoring rows LA1 and LB1 are arranged. There are a method of shifting the light-emitting element group 12 and the light-receiving element group 22 that are in charge from the center of the lens, a method of tilting by a predetermined angle, and the like.
[0034]
In the first embodiment, the common monitoring column C is set right above the doorway. However, when a rail is laid on the doorway and good reflected light cannot be obtained by the rail, For example, the entire monitoring column may be shifted by one column to the left or right in FIG. 5, and the common monitoring column C may be set to the monitoring column LA2 or the monitoring column LB2.
[0035]
In any case, by setting the common monitoring line C directly above or to the side of the doorway, the first light sensor 4 and / or the second light sensor 5 has the same movement of the door 1 itself as other objects. In this state, the door 1 is left open. To prevent this, the CPU 6 as the control means is provided with the following control program.
[0036]
As a premise, it is assumed that the common monitoring column C is set on the doorway. First, when an object (for example, a person) approaches the door 1 and the object is detected in any of the monitoring trains, the CPU 6 controls the driving means (not shown) based on the object detection signal to open the door 1. .
[0037]
When the object passes through the door 1 and falls out of the monitoring row and the object detection signal disappears, the CPU 6 gives a door closing signal to the driving means to close the door 1. The movement of the door 1 is detected by the common monitoring column C. In this case, since the door 1 is a double-opening type, when the door 1 is closed, both the first and second photosensors 4 and 5 are outside. It is blocked from the spot light.
[0038]
That is, referring to FIG. 1, as the right door 1 is closed, the spot light is blocked in the order of SP1 → SP2 → SP3 → SP4, and as the left door 1 is closed, the spot light is SP8 → They are blocked in the order of SP7 → SP6 → SP5.
[0039]
Therefore, when the object detection signals output from the first and second photosensors 4 and 5 appear in the above time-series order, the CPU 6 determines that this is due to the movement of the door 1, and the door 1 is left as it is. close. Otherwise, it is determined that there is some object on the doorway, and the door 1 is kept open.
[0040]
Next, as a second embodiment in the case where the common monitoring column C is set on the doorway or on the side thereof as described above, as shown in FIG. 6, the entire monitoring columns LA1 to LA5 on the first photosensor 4 side are shown. The entire monitoring rows LB1 to LB5 on the second optical sensor 5 side may be shifted by a predetermined pitch.
[0041]
Further, as shown in FIG. 7, a third embodiment (reference embodiment), overlapped with the door nearest monitoring column LA1 of the first optical sensor 4 side, of the second optical sensor 5 side and the door nearest monitoring column LB1 each other Instead, it may be shifted by a predetermined pitch. In any case, the preferred amount of displacement is a ½ pitch between the spot lights SP.
[0042]
Further, by modifying the third embodiment, as shown in FIG. 8, the positions of the door closest monitoring row LA1 on the first optical sensor 4 side and the door immediate monitoring row LB1 on the second optical sensor 5 side are changed, The door closest monitoring row LA1 on the first optical sensor 4 side can be arranged on the outdoor side, and the door immediate monitoring row LB1 on the second optical sensor 5 side can be arranged on the indoor side, and such an aspect is also included in the present invention.
[0043]
As mentioned above, although this invention was demonstrated by said each embodiment, this invention is not limited to this. For example, the monitoring column is not limited to five columns. Further, the number of light emitting elements, the number of light receiving elements, and the number of spot lights are not limited. Further, the present invention is naturally applicable not only to automatic doors provided at entrances and exits of buildings but also to automatic doors in buildings.
[0044]
【The invention's effect】
As described above, according to the present invention, a plurality of light emitting elements that irradiate the light sensors installed on both sides of the door with a predetermined arrangement as a plurality of spot lights toward the monitoring area on the floor surface. The light sensor having the same number of light-receiving elements as the light-emitting elements and the light-receiving part capable of detecting the reflected light from the monitoring area in spot light units is closest to the door The spotlight irradiation position is relatively shifted so that the spotlights in the two door closest monitoring rows are alternately arranged when viewed from the direction in which the passage extends. Can be monitored more closely.
[Brief description of the drawings]
FIG. 1 is a schematic perspective view of an automatic door device to which a first embodiment of the present invention is applied.
FIGS. 2A and 2B are a front view and a side view schematically showing a light emitting portion of an optical sensor used in the present invention. FIGS.
FIGS. 3A and 3B are a front view and a side view schematically showing a light receiving portion of an optical sensor used in the present invention. FIGS.
FIG. 4 is a side view schematically showing a setting state of spot light according to the first embodiment.
FIG. 5 is a plan view schematically showing a spot light setting state according to the first embodiment.
FIG. 6 is a plan view schematically showing a spot light setting state according to the second embodiment of the present invention.
FIG. 7 is a plan view schematically showing a spot light setting state according to a third embodiment of the present invention.
FIG. 8 is a plan view schematically showing a spot light setting state according to a modification of the third embodiment.
FIG. 9 is a schematic side view showing an automatic door device as a conventional example.
FIG. 10 is a schematic plan view of the conventional example.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Door 1A Nothing 4 1st optical sensor 5 2nd optical sensor 6 Control means 10 Light emission part 12 Light emitting element group 120 (121-128) Light emitting element 20 Light receiving part 22 Light receiving element group 220 (221-228) Light receiving element LA1 LA5; LB1 to LB5 Monitoring column C Common monitoring column SP1 to SP8 Spot light FI, FO Floor surface

Claims (3)

First and second optical sensors disposed on both sides of the door , with the floor surface in the vicinity of the door of the passage partitioned by the sliding door that is opened and closed by the driving means as the monitoring area, In an automatic door opening / closing control method comprising a control means for controlling the driving means based on an object detection signal of each optical sensor to open and close the door,
Each of the optical sensors includes a light emitting unit having a plurality of light emitting elements that irradiate irradiation light toward the monitoring region as a plurality of spot lights with a predetermined arrangement, and the same number of light receiving elements as the light emitting elements, and the monitoring A light receiving unit capable of detecting reflected light from the region in units of the spot light,
Each of the optical sensors includes a monitoring row in which a plurality of monitoring rows including a predetermined number of spot lights arranged in parallel with the moving direction of the door are arranged in parallel in a direction away from the door at a predetermined interval. Each spot light in the closest monitoring row of the two doors closest to at least the door of each monitoring row group is arranged alternately when viewed from the extending direction of the passage, An automatic door opening / closing control method, wherein the two door closest monitoring rows are arranged to overlap each other in a state where the spot light irradiation positions are relatively shifted. The automatic door opening / closing control method according to claim 1, wherein the two door closest monitoring rows are overlapped on a movement path of the door. When the control means closes the door, the control means closes the door only when the time series of the object detection signals output from the light receiving elements that are in charge of the door monitoring sequence are along the direction in which the door is closed. The automatic door opening and closing control method according to claim 1 or 2 .

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