JP4912963B2 - Sensor for automatic door device and automatic door device - Google Patents

Description

  The present invention relates to a sensor used in an automatic door device and an automatic door device provided with the sensor.

  An example of the sensor described above is disclosed in Patent Document 1. According to the technique of Patent Document 1, the light emitting unit emits light from the upper part of the automatic door toward the detection area set on the floor, and the light receiving unit receives the reflected light from the detection area. The presence or absence of an object is detected based on the received light signal.

JP 2002-131450 A

Although not described in Patent Document 1, in order to detect the presence / absence of an object, it is determined that an object exists when the light reception signal exceeds a threshold value, and an object detection signal is output to the control device of the automatic door device To be done. In this case, by a stationary object such as a mat is placed in the detection area, or by the influence of rain and snow, in order to prevent the remains of the door panel is opened, and changes the threshold value automatically, In some cases, the sensor has a correction function for eliminating the object detection signal so that the received light signal does not exceed a threshold value. Thereby, the control device of the automatic door device closes the opened door panel. However, the control device of the automatic door device can determine whether the disappearance of the object detection signal is based on the correction function or based on the fact that no passerby actually exists in the detection area. Can not. Therefore, even when the object detection signal disappears based on the correction function, the door panel is closed in the same manner as when no passerby exists in the detection area. As a result, when correction is performed and there is a passerby in the vicinity, the door panel and the passerby may collide.

  An object of this invention is to provide the sensor for automatic door apparatuses which can correct | amend a threshold value, ensuring safety | security, and the automatic door apparatus using this sensor.

  The sensor for an automatic door device according to one aspect of the present invention includes an output signal generation unit. The output signal generation means generates an output signal corresponding to the situation in the detection area formed along the movement path of the door panel in the automatic door device. As the output signal generating means, for example, an optical type, a distance measuring type, an ultrasonic type or the like can be used. A determination unit generates a detection signal indicating the presence or absence of an object in the detection area according to a relationship of the output signal to a predetermined threshold. When the output signal is larger than the threshold, it can be determined that there is an object, and when it is smaller than the threshold, it can be determined that there is an object. When a predetermined correction condition is satisfied, the correction unit corrects the threshold value. As a correction condition, for example, when a stationary object is left in the detection area, specifically, when the output signal does not change above or below a threshold value over a certain period of time, more specifically, An output signal in a state where it is determined that there is an object in the detection area continues for a certain period of time, and there are cases where the door panel is open even though no passerby is present in the detection area. Alternatively, a state in which disturbance noise due to, for example, snow or rain is superimposed on the output signal is detected, and it is erroneously determined that an object does not exist in the detection area, and the door panel Is open. As a correction of the threshold value, when the threshold value is determined with a predetermined deviation from the reference value, the difference between the reference value and the threshold value is maintained at the previous value, and the reference value and the threshold value are the same amount. It is also possible to change only the threshold value without changing the reference value. When the threshold value is corrected, the warning signal generating means generates a warning signal for causing the automatic door device to perform a safe operation. As the safe operation, for example, the operation of the door panel is different from the normal operation. Specifically, the door panel is closed at a lower speed than usual. Alternatively, it is notified that the door is operated visually or audibly or both.

  In the sensor for an automatic door device configured as described above, when the threshold value is corrected, the automatic door device can be safely operated by outputting a warning signal, for example, the door panel is caused by the correction. Even when the closing operation is performed, it is possible to prevent a passerby from coming into contact with the door panel, and it is possible to correct the reference range while maintaining safety.

The detection area is formed by a plurality of small detection areas, and the warning signal can be generated when correction processing is performed on a specific small detection area among the small detection areas. If the small detection area is formed in an area close to the door panel and an area away from the door panel, the small detection area in the area close to the door panel should be set as the specific small detection area. When the threshold value of the small detection area which is in the area away from the door panel and does not need to be warned is corrected, a warning signal is not generated and useless safe operation is not performed.

In addition, when the correction is performed a predetermined number of times for a specific small detection area among the small detection areas, the output of the warning signal can be prohibited. In a small detection area where the output signal from the output signal generation means may fluctuate due to the shaking of the door panel , for example, in the small detection area at the end, if it is corrected a predetermined number of times, it is actually safe Since no operation is required, abnormal signal output is prohibited.

In the automatic door device including any of the sensors for automatic door devices as described above, a safe operation is performed when a warning signal is supplied. The small detection area can be operated safely only in response to a warning signal from a specific small detection area closest to the door panel . Of the specific small detection areas, When the threshold value is corrected a predetermined number of times for changing the output signal of the output signal generating means , the safe operation can be prohibited in the automatic door device.

  As described above, according to the present invention, the threshold value can be corrected according to the situation while ensuring safety.

As shown in FIGS. 1A and 1B, the automatic door device of the first reference example of the present invention includes door panels 6a and 6b that open and close a door opening 4 formed between fixed walls 2a and 2b. Have. These door panels 6a and 6b are double sliding doors. As shown in FIG. 2B, an invisible 8 is provided on the upper portion of the door opening 4. Sensors 10a and 10b are provided on both sides of the intangible 8, that is, the outdoor side and the indoor side, respectively.

  The sensors 10a and 10b are optical and have a plurality of light projecting units, for example, a light projector 12, as shown in FIG. Seven of these projectors are provided in two rows. As shown in FIG. 1A, for example, infrared rays are projected toward the floor surface 16 through the projection lens 14, and a total of 14 small projectors are provided. The detection areas 18 are continuously formed in two rows of 7 pieces along the movement path of the door panels 6a and 6b. This row consists of a row close to the door panels 6a and 6b and a row far from the door panels 6a and 6b.

  The sensors 10a and 10b also have a plurality of light receiving means, for example, a light receiver 20. These light receivers 20 are also provided in two rows so as to correspond to the projectors 12, receive the reflected light from each small detection area 18 through the condensing lens 22, and correspond to the amount of the reflected light. An output signal, for example, a light reception signal is generated. The projector 12 and the light receiver 20 correspond to output signal generation means.

  As shown in FIG. 3, the projector 12 and the light receiver 20 are controlled by a control unit, for example, the CPU 24, and when an object such as a passerby is detected in any of the small detection areas 18 as described later, When an object is not detected, an OFF signal is transmitted to the door controller 30 shown in FIG. 4 and all devices connected to the CAN bus 28 described later via the CAN interface 26 and the CAN bus 28. This control is based on the storage means connected to the CPU 24, for example, a program stored in the ROM 32, using the data stored in the storage means, eg, the EEPROM 34, and the storage means, eg, the RAM 36 as a working area. Use and be done.

  As shown in FIG. 5, the door controller 30 also has a CPU 38, a ROM 40, an EEPROM 42, and a RAM 44, and is connected to the sensors 10 a, 10 b and the like via the CAN interface 46 and the CAN bus 28. The door controller 30 controls the door engine 48 so that the door panels 6a and 6b normally close the opening 4, and opens the door panels 6a and 6b when the sensor 10a or 10b supplies an ON signal.

  The CAN bus 28 is also connected with an adjuster 50 for setting operation parameters and the like of the door panels 6a and 6b.

  In the automatic door device configured as described above, the sensors 10a and 10b operate as shown in the flowchart of FIG.

  First, one projector 12 is selected and projected (step S2). Next, one photoreceiver 20 that receives light is selected (step 4). The light reception signal of the selected light receiver 20, that is, the amount of light received in the selected small detection area, is A / D converted by the A / D converter provided in the CPU 24 (step S6).

  It is determined whether the received light value obtained by the A / D conversion is outside the reference range shown in FIG. 7 (step S8). This reference range includes an upper limit threshold value Uth obtained by adding an allowable upper limit deviation to the reference value ref, and a lower limit threshold value Lth obtained by subtracting the allowable lower limit deviation from the reference value ref. The reference value includes an object in the small detection area. In this case, the light reception value is set in advance so as to be larger or smaller than the reference value ref.

  Therefore, when the received light value is larger than the upper limit threshold value Uth or smaller than the lower limit threshold value Lth, that is, within the reference range (when the answer to the determination in step S8 is no), the object is smaller In order not to exist in the detection area, an OFF signal is output in order to keep the door panels 6a and 6b closed (step S10).

  On the other hand, if the received light value is outside the reference range (if the answer to the determination in step S8 is yes), it is determined that an object exists in the small detection area, and an ON signal is output to open the door panels 6a and 6b ( Step S12). Thus, the CPU 24 functions as a determination unit.

  After outputting the ON signal, as shown in FIG. 7, it is determined whether the light reception value is stable and a predetermined time T has elapsed (step S14). If the answer to this determination is no, the light reception value is based on a dynamic object, so the process returns to step S4 to make a determination on the light reception signal of another light receiver 20. If the answer to the determination in step S14 is yes, the received light value is determined to be static, for example, based on a mat placed on the floor 16, and correction processing is performed (step S16). For example, as shown in FIG. 7, the reference value ref, the upper limit threshold value Uth, and the lower limit threshold value Lth are biased so as to increase by a predetermined value. Thus, the CPU 24 functions as a correction unit.

  Next, an OFF signal is output to close the door panels 6a and 6b (step S18). Then, a warning signal is output (step S20). Thus, the CPU 24 also functions as a warning signal generation unit.

  And it performs again from step S2. If the received light value does not fall within the reference range even after the correction in step S16, the next time the received light value of the same small detection area is determined, it will be out of the reference range and the correction process is performed again. As a result of the correction process being performed several times in this way, it is within the reference range.

  The ON signal, the OFF signal, and the warning signal are supplied to all devices connected to the CAN bus 28 including the door controller 30 via the CAN bus 28.

  The door controller 30 performs processing as shown in the flowchart in FIG.

  First, when the door controller 30 is activated, the door panels 6a and 6b are moved to the fully closed position (step S22). As a result, the door panels 6a and 6b completely close the door opening 4.

  In this state, it is determined whether an ON signal is supplied from the door sensor 10a or 10b (step S24). If the answer to this determination is no, step S24 is repeated. If the answer to this determination is yes, an opening operation is performed (step S26). As a result, the door panels 6a and 6b slide and the door opening 4 is opened.

  Then, after opening the door panels 6a and 6b to the fully open position (step S28), it is determined whether an OFF signal is supplied (step S30). If the answer to this determination is no, step S30 is repeated.

  If the answer to the determination in step S30 is yes, it is then determined whether a warning signal is supplied (step S36). If the answer to this determination is no, it is a normal OFF signal that has not been subjected to correction processing, so a normal closing operation is performed (step S38), and the process is executed again from step S22. That is, the door panels 6a and 6b are closed at a speed set for when a passerby passes through the door opening 4 with the door panels 6a and 6b being opened.

  If the answer to the determination in step S36 is yes, since it is an OFF signal resulting from the correction processing, a low-speed closing operation is performed (step S40), and the process is executed again from step S22. That is, the door panels 6a and 6b are closed at a speed set slower than the normal closing operation.

In the above reference example , a warning signal is generated in response to a correction process in a case where a stationary object is placed on the floor 16 and the received light value hardly changes. On the other hand, in the automatic door device of the second reference example , for example, when the light reception value changes frequently as shown in FIG. 9 due to the influence of snow or rain, that is, noise is superimposed on the light reception value. In some cases, the reference range is corrected. In this case also, a warning signal is generated. That is, as shown in FIG. 10, steps S2 to S10 are performed as in the automatic door device of the first embodiment.

  If it is determined in step S8 that the received light value is outside the reference range, it is then determined whether noise is superimposed on the received light value (step S42). This determination is performed, for example, by determining whether the received light value exceeds the reference range over a predetermined number of times within a predetermined time. If the answer to this determination is no, an ON signal is output in step S12, and the process is executed again from step S4.

  If the determination result in step S42 is yes, the upper limit threshold Uth is increased by a predetermined value and the lower limit threshold Lth is decreased by a predetermined value without changing the reference value ref as shown in FIG. The threshold value is enlarged (step S44).

  Thereafter, it is determined whether the received light value is outside the enlarged threshold (step S46). If the answer to the determination is yes, the influence of snow or the like can be removed, but a passerby exists in the small detection area. , An ON signal is output (step S12a), and the process is executed again from step S4. If the answer to the determination in step S46 is no, the influence of snow or the like can be removed and no passersby are actually present in the small detection area. Therefore, by executing steps S18 and S20, an OFF signal is output and a warning is issued. A signal is output and the processing is executed again from step S4. The processing of the door controller 30 is the same as that in the first embodiment.

In the first and second reference examples , a warning signal is generated when correction processing is performed in both the small detection area belonging to the row close to the door panels 6a and 6b and the small detection area belonging to the far row. However, when correcting a far row, even if the door panels 6a and 6b are closed at a normal speed, there is a low possibility of contact with a passerby who stops. Even in such a case, it is useless to close the door panels 6a and 6b at a low speed. Therefore, in the first embodiment of the present invention, the warning signal is generated only when the correction process is performed in the small detection area in the row close to the door panels 6a and 6b.

That is, the adjuster 50 shown in FIG. 3 is set so that a warning signal is generated only in the near detection area, which is a detection area in a row near the door panels 6a and 6b, as indicated by a circle in FIG. Then, as shown in FIG. 12, after outputting an OFF signal in step S18 as in the first reference example , it is determined whether the detection area is a near detection area (step S48). If the answer to this determination is no, the process starts again from step S4. If the answer to this determination is yes, step S20 is executed, a warning signal is output, and the process is executed again from step S4. The processing in the door controller 30 is the same as that in the first reference example . Further, the present invention can also be applied to a case where noise is corrected as in the second reference example .

In the first embodiment, it is determined whether the sensor 10a or 10b is a near detection area, and a warning signal is generated in the case of the near detection area. In the second embodiment, the sensors 10a and 10b generate a warning signal in any small detection area when correction processing is performed. However, it is determined whether it is a near detection area on the door controller 30 side.

  That is, a number is assigned to each small detection area in advance, and as shown in FIG. 13, the sensor 10a, 10b outputs an OFF signal in step S18, and then the area number of the detection area that has been corrected. Is output (step S50). Thereafter, the warning signal in step S20 is output. On the other hand, in the door controller 30, as shown in FIG. 14, the area number of the small detection area corresponding to the near detection area is registered in advance. If it is determined in step S36 that there is a warning signal, it is determined whether the area number of the small detection area that generated the warning signal is a number set as a near detection area (step S52). If the answer to this determination is no, a normal closing operation in step S38 is performed. If the answer to this determination is yes, a low-speed closing operation in step S40 is performed.

15 and 16 show a third embodiment. The door panels 6a and 6b are positioned through various drive mechanisms. Due to the environmental conditions at the time of positioning, the deterioration state of the drive mechanism, and the play of the drive mechanism, as shown in FIG. The detection state and the non-detection state may be repeated in the small detection area 18. In this case, correction processing may be performed in the same manner as in the second reference example in which the noise is superimposed. However, in such a case, it is originally unnecessary for the door controller 30 to perform a safe operation.

Therefore, as shown in FIG. 16, after performing the same correction processing as in the second reference example and outputting an OFF signal, it is determined whether or not it is a near detection area as in the first embodiment. If there is, it is determined whether it is a small detection area at the end (step S54). If the answer to this determination is no, a warning signal is output in step S20, and the process is executed again from step S4.

If the answer to the determination in step S54 is yes, it is determined whether the number of corrections in the small edge detection area is equal to or greater than a predetermined number N (step S56). If the answer to this determination is yes, the door panel It is determined that the vibrations 6a and 6b fluctuate, and the process is executed again from step S4 without outputting a warning signal. On the other hand, if the answer to this determination is no, a warning signal is output in step S20, and the process is executed again from step S4. In this case, the processing on the door controller 30 side is the same as in the first and second reference examples .

In the third embodiment, output of a warning signal is prohibited on the side of the sensors 10a and 10b. However, in the fourth embodiment, on the side of the sensor 10a and 10b, a warning signal and small detection are performed as in the second embodiment. The small detection area number assigned to the area is transmitted to the door controller 30 side.

  On the door controller 30 side, as shown in FIG. 17, when it is determined that there is a warning signal in step S36 and it is determined that it is a near detection area in step S52, it is determined whether it is a small detection area at the end (step S58). If the answer to the determination is no, a low-speed closing operation in step S40, that is, a safe operation is performed. If the answer to the determination in step S58 is yes, it is determined whether N or more warning signals are output to the small detection area (step S60). If the answer to this determination is yes, a normal closing operation in step S38 is performed. That is, no safe operation is performed. If the answer to this determination is no, a low-speed closing operation in step S40 is performed.

In each of the embodiments described above, the closing speed of the door panels 6a and 6b is reduced as a safe operation. In the fifth embodiment, only the announcement is performed without changing the closing speed of the door panels 6a and 6b, or the announcement is performed after the closing speed is lowered. Therefore, as shown in FIG. 4, the CAN bus 28 is provided with an audio device 52 indicated by a broken line. As shown in FIG. 18, the audio device 52 determines whether an OFF signal is supplied (step S62). If the answer to this determination is no, step S62 is repeated. If the answer to this determination is yes, it is determined whether there is a warning signal (step S64). If the answer to this determination is yes, an announcement is made (step S66). For example, an announcement that the door panel is moving is made, and the process returns to step S62. If the answer to the determination in step S64 is no, the process returns to step S62 without making an announcement.

In each of the above embodiments, each component of the automatic door device is connected via the CAN bus 28. However, in the sixth embodiment, as shown in FIG. 19, the indoor side sensor is used without using the CAN bus. 10a, 10b and the door controller 30 can also be connected, respectively.

  Therefore, the sensors 10 a and 10 b have a two-contact output unit 54, and these two-contact output units are OR-connected and connected to the two-contact input unit 56 of the door controller 30. Using these two contacts, an OFF signal or an ON signal and a warning signal are supplied from the sensors 10a and 10b to the door controller 30. An adjuster 50a for the sensors 10a and 10b is connected to the CPU 24 of the sensors 10a and 10b via the input / output unit 58, and an adjuster 50b for the door controller 30 is connected to the CPU 36 of the door controller 30 via the input / output unit 60. It is connected to the. The audio device 52 is also connected to the CPU 36 via the input / output unit 62. Therefore, in this embodiment, as a safe operation, an announcement that the door panels 6a and 6b are closed together with the closing operation of the door panels 6a and 6b at low speed is also performed.

  In each of the above embodiments, when the light reception value is larger than the upper limit threshold value Uth or the light reception value is smaller than the lower limit threshold value Lth, it is determined that the object exists in the small detection area, but only one of the threshold values is used. You can also.

It is the top view and side view of the automatic door apparatus of the 1st reference example of this invention. It is a figure which shows the structure of the sensor of the automatic door apparatus of FIG. It is a block diagram of the sensor of FIG. It is a block diagram of the automatic door apparatus of FIG. It is a block diagram of the door controller of the automatic door apparatus of FIG. It is a flowchart which shows operation | movement of the sensor of FIG. It is a figure which shows the reference range of the sensor of FIG. It is a flowchart which shows operation | movement of the door controller of the automatic door apparatus of FIG. It is a figure which shows the reference | standard range of the sensor of the automatic door apparatus of the 2nd reference example of this invention. It is a flowchart which shows operation | movement of the sensor of the automatic door apparatus of FIG. It is a figure which shows the setting state of the near detection area in the automatic door apparatus of the 1st Embodiment of this invention. It is a flowchart which shows a part of operation | movement of the sensor of the automatic door apparatus of FIG. It is a flowchart which shows a part of operation | movement of the sensor of the automatic door apparatus of the 2nd Embodiment of this invention. It is a flowchart which shows a part of operation | movement of the door controller of the automatic door apparatus of FIG. It is a figure which shows the setting state of the near detection area in the automatic door apparatus of the 3rd Embodiment of this invention. It is a flowchart which shows a part of operation | movement of the sensor of the automatic door apparatus of FIG. It is a flowchart which shows a part of operation | movement of the door controller in the automatic door apparatus of the 4th Embodiment of this invention. It is a flowchart which shows operation | movement of the audio | voice apparatus in the automatic door apparatus of the 5th Embodiment of this invention. It is a block diagram of the automatic door apparatus of the 6th Embodiment of this invention.

Explanation of symbols

10a 10b sensor 12 projector (output signal generating means)
20 Light receiver (output signal generating means)
24 CPU (determination means, correction means, warning signal generation means)

Claims (4)

An output signal generating means for generating an output signal according to the situation in the detection area formed along the movement path of the door panel in the automatic door device;
Determining means for generating a detection signal indicating the presence or absence of an object in the detection area according to a relationship of the output signal to a predetermined threshold;
Correction means for correcting the threshold value when a predetermined correction condition is satisfied;
Warning signal generating means for generating a warning signal for causing the automatic door device to perform a safe operation when the threshold value is corrected;
And the detection area is formed by a plurality of small detection areas, and the correction signal of the specific small detection area closest to the door panel among the small detection areas is generated. Sensor for automatic door device. 2. The sensor for an automatic door device according to claim 1 , wherein the threshold value is corrected a predetermined number of times when the output signal of the output signal generating means is fluctuated by shaking of the door panel in the specific small detection area. A sensor for an automatic door device that prohibits the output of the warning signal. An automatic door device comprising the sensor for an automatic door device according to claim 1 and performing the safe operation. The automatic door device sensor according to claim 1 , wherein the threshold value is corrected in advance for the specific small detection area in which the output signal of the output signal generating means is fluctuated due to shaking of the door panel. An automatic door device that prohibits the safe operation when performed.

Images